Stable teleoperation with communication unreliabilities and approximate human/environment dynamics knowledge

Iason Vittorias, Sandra Hirche

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
PublisherIEEE Computer Society
Pages2791-2796
Number of pages6
ISBN (Print)9781424474264
DOIs
StatePublished - 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

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