An application of IMPACT structure to bilateral teleoperations

Abstract-- Time-delays typically cause stability and performance problems in teleoperation systems. As a remedy for such problems in position-error based bilateral teleoperations, a control algorithm is proposed which is derived as a robust modification of a Smith predictor structure for timedelay compensation. The considered modification is based on an application of the Internal Model Principle And Control Together (IMPACT). The resulting algorithm allows rejection of disturbances from a known class, that act at the output of the slave. Linear dynamics are considered for both master and slave manipulators and it is assumed that the time-delay due to communication is constant and known upto a certain degree of accuracy. The algorithm is illustrated in simulations.

• Type: Journal
• Year: 2010
• Where: CDC
• Authors: Alper Denasi, Dragan Kostic, Henk Nijmeijer
• Keywords: Algorithm, CDC 2010, Control Systems, Principle And Control, Smith Predictor Structure