Small-Gain Design of Networked Cooperative Bilateral Teleoperators

摘要：

For cooperative force-reflecting teleoperation over networks, conventional passivity-based approaches are not always applicable due to possibility of nonpassive slave-slave interactions and irregular communication delays imposed by networks. In this work, we propose a design approach that is based on an advanced version of the small-gain theorem developed previously for complex network-based interconnections. It is shown that, using the proposed design approach, a networked cooperative force-reflecting teleoperator system can be made stable in the presence of irregular communications by adjusting the local control gains appropriately. Experimental results are presented that confirm the validity of the proposed approach.

作者: Ilia G. Polushin Amir Takhmar Rajni V. Patel

作者单位: Department of Electrical and Computer Engineering,University of Western Ontario,London,ON,N6A 5B9,Canada,

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 892-897

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）