A New Predictive Approach for Bilateral Teleoperation With Applications to Drive-by-Wire Systems
| Format: | jou |
|---|---|
| Terbitan: |
POLBAN
, 2007
|
| Subjects: |
| ctrlnum |
ai-jbptppolban-gdl-jou-2007-1yajunpan2-2467 |
|---|---|
| fullrecord |
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<dc schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/ http://www.openarchives.org/OAI/2.0/oai_dc.xsd"><title>A New Predictive Approach for Bilateral Teleoperation With Applications to Drive-by-Wire Systems</title><subject/><subject>Bilateral teleoperation systems, delayed systems, network-controlled systems, predictive approach, time-varying delays</subject><publisher>POLBAN</publisher><date>2007</date><language>Bahasa Indonesia</language><type>Other:jou</type><identifier>jbptppolban-gdl-jou-2007-1yajunpan2-2467</identifier><description>In this paper, a new predictive approach is proposed for the impedance control of bilateral drive-by-wire teleoperation systems. The proposed control structure includes two mirror predictors/observers in both the master and slave sides. These predictors/observers are used to simultaneously estimate the master and slave internal dynamics, and thereby to avoid the use of the delayed transmitted information. As a consequence, the influence of the delay on the whole system can be minimized and the performance can be improved. Under a set of suited hypotheses, the proposed control structure is shown to be uniformly ultimate stable, even in the presence of time-varying delays. Simulation results are presented to show the effectiveness of the proposed approach. The behavior of the control structure is also experimentally demonstrated while performing remote steering of a small autonomous vehicle. </description><recordID>ai-jbptppolban-gdl-jou-2007-1yajunpan2-2467</recordID></dc>
|
| format |
Other:jou Other |
| title |
A New Predictive Approach for Bilateral Teleoperation With Applications to Drive-by-Wire Systems |
| publisher |
POLBAN |
| publishDate |
2007 |
| topic |
Bilateral teleoperation systems delayed systems network-controlled systems predictive approach time-varying delays |
| contents |
In this paper, a new predictive approach is proposed for the impedance control of bilateral drive-by-wire teleoperation systems. The proposed control structure includes two mirror predictors/observers in both the master and slave sides. These predictors/observers are used to simultaneously estimate the master and slave internal dynamics, and thereby to avoid the use of the delayed transmitted information. As a consequence, the influence of the delay on the whole system can be minimized and the performance can be improved. Under a set of suited hypotheses, the proposed control structure is shown to be uniformly ultimate stable, even in the presence of time-varying delays. Simulation results are presented to show the effectiveness of the proposed approach. The behavior of the control structure is also experimentally demonstrated while performing remote steering of a small autonomous vehicle. |
| id |
IOS17601.ai-jbptppolban-gdl-jou-2007-1yajunpan2-2467 |
| institution |
Politeknik Negeri Bandung |
| institution_id |
2033 |
| institution_type |
library:university library |
| library |
UPT Perpustakaan Politeknik Negeri Bandung |
| library_id |
1640 |
| collection |
Repository Polban |
| repository_id |
17601 |
| city |
BANDUNG BARAT |
| province |
JAWA BARAT |
| repoId |
IOS17601 |
| first_indexed |
2022-08-31T03:15:46Z |
| last_indexed |
2022-08-31T03:15:46Z |
| recordtype |
dc |
| _version_ |
1742648020170702848 |
| score |
17.610285 |