A new method for bilateral teleoperation passivity under varying time delays
type: Item
instance of: scholarly article
title: A new method for bilateral teleoperation passivity under varying time delays
zbMATH Open document ID: 1264.93156
DOI: 10.1155/2012/792057
author: Farzad Hashemzadeh
author: Iraj Hassanzadeh
author: Mahdi Tavakoli
author: Ghasem Alizadeh
published in: Mathematical Problems in Engineering
publication date: 2013-06-11T00:00:00Z
review text: Summary: A new framework is proposed to mitigate the adverse effect of time-varying time delays on the passivity of a teleoperation system. To this end, the communication channel with time-varying delays is modeled as a constant-delay channel along with additive output disturbances. Then, disturbance estimator blocks are added in each of the feedforward and feedback paths to estimate these disturbances and to compensate for them. In the disturbance estimator block, there is a need for a virtual time-varying delay block such that the overall communication channel can be seen as one with a constant delay. We also propose a method for determining this virtual delay. Two PHANToM haptic devices connected through a communication channel with time-varying delays are considered for a case study. Simulation and experimental results confirm the efficiency of the proposed method in terms of passivating the teleoperation system in the presence of time-varying delays.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 94A40
zbMATH DE Number: 6173582
Wikidata QID: Q58911964
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2012/792057
OpenAlex ID: W2012202749
cites work: Q4093255
cites work: Bilateral teleoperation: An historical survey
cites work: An ISS small gain theorem for general networks
cites work: A Small-Gain Condition for Interconnections of ISS Systems With Mixed ISS Characterizations
cites work: Robust exact differentiation via sliding mode technique
description: scientific article; zbMATH DE number 6173582