TY - GEN
T1 - Stable teleoperation with communication unreliabilities and approximate human/environment dynamics knowledge
AU - Vittorias, Iason
AU - Hirche, Sandra
PY - 2010
Y1 - 2010
N2 - This paper introduces a novel control approach for teleoperation systems to achieve finite gain ℒ2-stability under communication unreliabilities. It is assumed that the communication block satisfies a small gain condition, as for example constant time delay and properly handled packet loss do. The proposed approach, a generalization of the scattering transformation, takes advantage of dissipative properties of human arm, environment, and/or manipulator dynamics. It is shown that transparency can be substantially improved compared to the conventional scattering transformation approach. Simulations and experimental results validate the proposed approach.
AB - This paper introduces a novel control approach for teleoperation systems to achieve finite gain ℒ2-stability under communication unreliabilities. It is assumed that the communication block satisfies a small gain condition, as for example constant time delay and properly handled packet loss do. The proposed approach, a generalization of the scattering transformation, takes advantage of dissipative properties of human arm, environment, and/or manipulator dynamics. It is shown that transparency can be substantially improved compared to the conventional scattering transformation approach. Simulations and experimental results validate the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=77957822424&partnerID=8YFLogxK
U2 - 10.1109/acc.2010.5531373
DO - 10.1109/acc.2010.5531373
M3 - Conference contribution
AN - SCOPUS:77957822424
SN - 9781424474264
T3 - Proceedings of the 2010 American Control Conference, ACC 2010
SP - 2791
EP - 2796
BT - Proceedings of the 2010 American Control Conference, ACC 2010
PB - IEEE Computer Society
ER -