吉林大学学报(工学版)

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Bilateral control of teleoperation system based on timevarying delay identification

Zhang Tao, Li Yuan-chun   

  1. College of Communication Engineering, Jilin University,Changchun 130022,China
  • Received:2005-06-02 Revised:2005-09-14 Online:2006-05-01 Published:2006-05-01
  • Contact: Li Yuanchun

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Abstract: In view of the difficulties caused by the timevarying communication delay in the teleoperation, the reasons for the timevarying communication delay was analyzed. To solve the problem a timevarying communication delay identification method was proposed and this method can converge the timevarying communication delay parameter quickly. This method was combined with the wave integrals and a control scheme especially proposed for the timevarying communication delay. The effectiveness of the proposed scheme has been demonstrated through the simulations.

Key words: automatic control technology, timevarying delay, identification, teleoperation, bilateral control

CLC Number: 

  • TP273
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