Force reflecting control for bilateral teleoperation system under time-varying delays

Yuan Yuan, Yingjie Wang, Lei Guo

Research output: Contribution to journalArticlepeer-review

70 Scopus citations

Abstract

In this paper, the force reflection control problem is addressed for a bilateral teleoperation system with time-varying delays. A dynamic gain force observer is proposed to obtain the force information for the force reflection control scheme. In virtue of the adaptive law, the internal uncertainties can be estimated based on the prescribed performance functions. The corrective wave variable method is utilized such that the bilateral teleoperation system could achieve a satisfactory control performance. A number of practical experiments are implemented on the bilateral teleoperation system to demonstrate the validation of the proposed methodology.

Original languageEnglish
Article number8330054
Pages (from-to)1162-1172
Number of pages11
JournalIEEE Transactions on Industrial Informatics
Volume15
Issue number2
DOIs
StatePublished - Feb 2019

Keywords

  • Adaptive law
  • bilateral teleoperation system
  • force observer
  • force reflecting control

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