Application of the IMPACT structure on bilateral teleoperation

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic


A common issue encountered in teleoperation systems is a time-delay in the communication channel. Depending onthe type of communication protocol, the delay can be constant or time-varying. In both cases, the delay can seriously degrade performance of teleoperations or even destroy stability. In this work, we apply the IMPACT approach to position error (PERR) based teleoperations, where only position information is exchanged between the master and slave manipulators. Our method combines a Smith predictor with a disturbance estimator designed based on an expected class of disturbances acting at the output of the slave manipulator.
Original languageEnglish
Title of host publication29th Benelux Meeting on Systems and Control, 30 March - 1 April 2010, Heeze, Netherlands, book of abstracts
EditorsH. Stigter
Place of PublicationWageningen, Netherlands
Publication statusPublished - 2010


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