Abstract
A new control design for teleoperation considering time delay is presented. Unlike existing methods for communication delays, the design presented here identifies and continuously moves the rightmost eigenvalues to desired positions. Signal transmission through the Internet using protocols (e.g., UDP) introduces time delays into the system. The time delays cause instability as the system is forced to make use of past information rather than the present in determining the output one agent sends to another agent. The proposed method controls rightmost eigenvalue in infinite spectrum such that the command signal to the cart ensures a sustained stabilized system. Experimental results are presented to validate the design method.
Highlights
This paper looks at the stabilization of teleoperated systems under time delays
Our aim in this study is to understand the effects of time delays on the stability of teleoperation and design a control system to reverse the adverse effects of the delay
The DDEBIFTOOL is used to find the critical eigenvalues of the system
Summary
This paper looks at the stabilization of teleoperated systems under time delays. Systems react to external actions and the reaction is typically not instantaneous due to transport and propagation phenomena. Our aim in this study is to understand the effects of time delays on the stability of teleoperation and design a control system to reverse the adverse effects of the delay. Stable PV controller is designed for the teleoperation system without consideration of time delay using classical method. In transporting signals from the master agent to the slave agent and feedback signals from the slave to the master, time delay arises This delay causes undesired responses and instability. There is need to design a control system capable of stabilizing the plants considering the effects of the time delay. The DDEBIFTOOL is used to find the critical eigenvalues of the system Given an equilibrium, it allows to approximate the rightmost, stability determining roots of the infinite dimensional characteristic equation.
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