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This paper deals with an environment estimation based predictive control for teleoperation with communication time delay. In this predictive control framework, the delayed position tracking and non-delayed force reflection are attempted. The goal of this paper is to propose a new control method which guarantees the stability, the convergence of position tracking error to zero and the small force tracking...
This article established time delay dynamics equation of force telepresence system firstly, and then uses the differential equations to analyze the stability of force telepresence system. This paper makes use of Lyapunov function to discuss two cases which are free moving state and the state of action with environment, according to the moving state of the hand of robot. Also this article defines the...
This paper presents a study on the application of reset control principles to the field of teleoperation based on passivity. The main problem addressed here is the effect of the communication delay. The proposed ideas provide a novel approach which combines the robustness derived from the passivity techniques with the performance improvement enabled by the reset strategy. Results on the stability...
The message dropout will degrade the control performance in the Internet-based telecontrol system. The switched controller is proposed to compensate the network delay and message dropout. It changes among the different structures by inspecting the sampling cases in the forward and feedback paths. The theory analysis shows that the stability and steady-state error will be maintained, but the transient...
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