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Article Dans Une Revue IEEE Transactions on Robotics Année : 2006

A New Predictive Approach for Bilateral Teleoperation With Applications to Drive-by-Wire Systems

Résumé

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 the 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 hypothesis, 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.
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Dates et versions

hal-00103537 , version 1 (04-10-2006)

Identifiants

  • HAL Id : hal-00103537 , version 1

Citer

Ya-Jun Pan, Carlos Canudas de Wit, Olivier Sename. A New Predictive Approach for Bilateral Teleoperation With Applications to Drive-by-Wire Systems. IEEE Transactions on Robotics, 2006, 22, pp.1146-1162. ⟨hal-00103537⟩
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