In this paper, we first introduce passivity and wave variables, and then analyze the reasons of time-varying communication delay. For this time-varying delay we propose a time-varying communication delay identification method and from this method the time-varying communication delay parameter can converge quickly. Finally we combine this method with wave integrals and propose a control scheme especially for time-varying communication delay. The effectiveness of the proposed method has been demonstrated through the simulations.


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    Titel :

    A control scheme for bilateral teleoperation systems based on time-varying communication delay identification


    Beteiligte:
    Tao Zhang, (Autor:in) / Yuanchun Li, (Autor:in)


    Erscheinungsdatum :

    2006-01-01


    Format / Umfang :

    2643561 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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