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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    Title :

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


    Contributors:
    Tao Zhang, (author) / Yuanchun Li, (author)


    Publication date :

    2006-01-01


    Size :

    2643561 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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