Time delay compensation in bilateral teleoperations using IMPACT

A. Denasi; D. Kostic; H. Nijmeijer

doi:10.1109/TCST.2012.2191153

Time delay compensation in bilateral teleoperations using IMPACT

A. Denasi, D. Kostic, H. Nijmeijer

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22 Citations (Scopus)

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Abstract

Teleoperated systems may be subject to destabilizing and performance degrading effects due to time delays. An appealing remedy is an application of the internal model principle and control together (IMPACT) structure as it is done in this paper in the problem of position-error-based bilateral teleoperation. The IMPACT algorithm proposed in this paper allows time-delay compensation and rejection of disturbances from a known class that act at the output of the slave manipulator. Simulation and experimental results illustrate the effectiveness of the algorithm.

Original language	English
Pages (from-to)	704-715
Journal	IEEE Transactions on Control Systems Technology
Volume	21
Issue number	3
DOIs	https://doi.org/10.1109/TCST.2012.2191153
Publication status	Published - 2013

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title = "Time delay compensation in bilateral teleoperations using IMPACT",

abstract = "Teleoperated systems may be subject to destabilizing and performance degrading effects due to time delays. An appealing remedy is an application of the internal model principle and control together (IMPACT) structure as it is done in this paper in the problem of position-error-based bilateral teleoperation. The IMPACT algorithm proposed in this paper allows time-delay compensation and rejection of disturbances from a known class that act at the output of the slave manipulator. Simulation and experimental results illustrate the effectiveness of the algorithm.",

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AU - Nijmeijer, H.

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AB - Teleoperated systems may be subject to destabilizing and performance degrading effects due to time delays. An appealing remedy is an application of the internal model principle and control together (IMPACT) structure as it is done in this paper in the problem of position-error-based bilateral teleoperation. The IMPACT algorithm proposed in this paper allows time-delay compensation and rejection of disturbances from a known class that act at the output of the slave manipulator. Simulation and experimental results illustrate the effectiveness of the algorithm.

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DO - 10.1109/TCST.2012.2191153

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VL - 21

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EP - 715

JO - IEEE Transactions on Control Systems Technology

JF - IEEE Transactions on Control Systems Technology

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Time delay compensation in bilateral teleoperations using IMPACT

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