Gain-Scheduled Compensation for Time-Varying Delay in Bilateral Teleoperation Systems.

摘要

Recently, many new potential uses of advanced telerobotic systems have been explored, such as a computer networked robotics and a teleoperation on a WWW browser. The business communication channels and not the exclusive channels undergo large variation of the time delay. Therefore, it is impossible to achieve high performance over the entire operating range with a single robust LTI controller. Provided that the time delay is measured on line, it is desirable to use controllers that incorporate such measurement. In this paper, the design of the time-varying H∞ controllers incorporates to adjust to the current time delay is discussed based on the framework of the gain scheduling. The validity of proposed method is confirmed by the simulation and the experiments using a directdrive master-slave system.