Time delay compensation in bilateral teleoperations using IMPACT

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Samenvatting

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.
Originele taal-2Engels
Pagina's (van-tot)704-715
TijdschriftIEEE Transactions on Control Systems Technology
Volume21
Nummer van het tijdschrift3
DOI's
StatusGepubliceerd - 2013

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