시변 시간지연 하에서 안정성을 보장하는 양방향 원격제어기 : 시간영역 수동성 기법

Abstract

In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. A packet reflector with wireless internet connection is used to introduce serious time-varying communication delay of teleoperators. Average amount of time-delay was about 190(msec) for round trip, and varying between 175(msec) and 275(msec). Moreover some data packet was lost during the communication due to UDP data communication. Even under the serious time-varying delay and packet loss communication condition, the proposed approach can achieve stable teleoperation in free motion and hard contact as well.