1. A new predictive approach for bilateral teleoperation with applications to drive-by-wire systems
- Author
-
Pan, Ya-Jun, Canudas-de-Wit, Carlos, and Sename, Olivier
- Subjects
Robotics -- Research ,Robots -- Control systems ,Robots -- Design and construction ,Robots -- Research ,Robots -- Motion - Abstract
In this paper, a new predictive approach is proposed for the impedance control of bilateral drive-by-wire teleoperation systems. The proposed control structure includes two mirror predictors/ observers in both the master and slave sides. These predictors/ observers are used to simultaneously estimate the master and slave internal dynamics, and thereby to avoid the use of the delayed transmitted information. As a consequence, the influence of the delay on the whole system can be minimized and the performance can be improved. Under a set of suited hypotheses, the proposed control structure is shown to be uniformly ultimate stable, even in the presence of time-varying delays. Simulation results are presented to show the effectiveness of the proposed approach. The behavior of the control structure is also experimentally demonstrated while performing remote steering of a small autonomous vehicle. Index Terms--Bilateral teleoperation systems, delayed systems, network-controlled systems, predictive approach, tlme-varying delays.
- Published
- 2006