Advanced search
Publication Cover
International Journal of Control Volume 76, 2003 - Issue 8
Submit an article Journal homepage
143
Views
37
CrossRef citations to date
0
Altmetric
Original Articles

Stabilization of bilaterally controlled teleoperators with communication delay: An ISS approach

I. G. Polushin Department of Electrical and Computer Engineering, University of Alberta, Edmonton, T6G 2V4, Canada; CCS Laboratory, Institute for Problems of Mechanical Engineering, Russian Academy of Sciences, St. Petersburg, Russia
&
H. J. Marquez Department of Electrical and Computer Engineering, University of Alberta, Edmonton, T6G 2V4, Canada
Pages 858-870 | Published online: 08 Nov 2010

  • ALVAREZ-GALLEGOS , J. , DE CORTES RODRIGUES , D. and SPONG , M. W. 1997 . A stable control scheme for teleoperators with time delay . International Journal of Robotics and Automation , 12 : 73 – 79 .
  • ANDERSON , R. J. and SPONG , M. W. 1989 . Bilateral control of teleoperators with time delay . IEEE Transactions on Automatic Control , 34 : 494 – 501 .
  • ANDERSON , R. J. and SPONG , M. W. 1992 . Asymptotic stability of force reflecting teleoperators with time delay . International Journal of Robotics Research , 11 : 135 – 149 .
  • ARCARA , P. and MELCHIORRI , C. 2002 . Control schemes for teleoperation with time delay: a comparative study . Robotics and Autonomous Systems , 38 : 49 – 64 .
  • BLEKHMAN , I. I. , FRADKOV , A. L. , NIJMEIJER , H. and POGROMSKY , A. Yu. 1997 . On self-synchronization and controlled synchronization of dynamical systems . Systems and Control Letters , 31 : 299 – 306 .
  • CHEN , T. and FRANCIS , B. 1995 . Optimal Sampled-Data Control Systems , London : Springer-Verlag .
  • DESOER , C. and VIDYASAGAR , M. 1975 . Feedback Systems: Input-Output Properties , New York : Academic Press .
  • FERRELL , W. R. 1966 . Delayed force feedback . Human Factors , 8 : 449 – 455 .
  • FRADKOV , A. L. and POGROMSKY , A.Yu. 1998 . Introduction to Control of Oscillations and Chaos , Singapore : World Scientific .
  • HARDY , G. , LITTLEWOOD , J. and POLYA , G . 1989 . Inequalities , Cambridge University Press .
  • HASLER , M. 1998 . Synchronization of chaotic systems and transmission of information . International Journal of Bifurcation and Chaos , 8 : 647 – 659 .
  • JIANG , Z.-P. , TEEL , A. R. and PRALY , L. 1994 . Small-gain theorem for ISS systems and applications . Mathematics of Control, Signals, and Systems , 7 : 95 – 120 .
  • KHALIL , H. K. 1996 . Nonlinear Systems , Upper Saddle River, NJ : Prentice Hall .
  • LEUNG , G. M. and FRANCIS , B. A. Delayed force feedback in the digital implementation of space teleoperators . Proceedings of the 7th CASI Conference on Astronautics . November 5-6 , Ottawa, Canada. pp. 257 – 266 .
  • LEUNG , G. M. , FRANCIS , B. A. and APKARIAN , J. 1995 . Bilateral controller for teleoperators with time delay via mu-synthesis . IEEE Transactions on Robotics and Automation , 11 : 105 – 116 .
  • NIEMEYER , G. and SLOTINE , J.-J. E. 1991 . Stable adaptive teleoperation . IEEE Journal of Oceanic Engineering , 16 : 152 – 162 .
  • POLUSHIN , I. G. and MARQUEZ , H. J. The ISS small gain approach to stabilization of bilaterally controlled teleoperators with communication delay . Proceedings of the European Control Conference 2003 . September 1-4 , Cambridge, UK. to appear
  • SONTAG , E. D. 1989 . Smooth stabilization implies coprime factorization . IEEE Transactions on Automatic Control , 34 : 435 – 443 .
  • SONTAG , E. D. 2000 . “ The ISS philosophy as a unifying framework for stability-like behaviour ” . In Nonlinear Control in the Year 2000 , Edited by: Isidori , A. , Lamnabhi-Lagarrigue , F. and Respondek , W. Vol. 2 , 443 – 468 . Berlin : Springer-Verlag .
  • SONTAG , E. D. and WANG , Y. 1995 . On characterizations of the input-to-state stability property . Systems and Control Letters , 24 : 351 – 359 .
  • SONTAG , E. D. and WANG , Y. 1996 . New characterizations of input-to-state stability . IEEE Transactions on Automatic Control , 41 : 1283 – 1294 .
  • SPONG , M. W. 1996 . “ Motion control of robot manipulators ” . In Handbook of Control , Edited by: Levine , W. 1339 – 1350 . CRC Press .
  • TEEL , A. R. 1998 . Connections between Razumikhin-type theorems and the ISS nonlinear small gain theorem . IEEE Transactions on Automatic Control , 43 : 960 – 964 .
  • TEEL , A. R. , NESIC , D. and KOKOTOVIC , P. V. A note on input-to-state stability of sampled-data nonlinear systems . Proceedings of the 37th IEEE Conference on Decision and Control . Tampa, FL, USA. pp. 2473 – 2478 .
  • WANG , C. and GE , S.S. 2001 . Synchronization of two uncertain chaotic systems via adaptive backstepping . International Journal of Bifurcation and Chaos , 11 : 1743 – 1751 .
  • ZHU , W.-H. and SALCUDEAN , S. E. 2000 . Stability guaranteed teleoperation: an adaptive motion/force control approach . IEEE Transactions on Automatic Control , 45 : 1951 – 1969 .

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Order Reprints Request Corporate Permissions

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

Request Academic Permissions

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.

Related research

People also read lists articles that other readers of this article have read.

Recommended articles lists articles that we recommend and is powered by our AI driven recommendation engine.

Cited by lists all citing articles based on Crossref citations.
Articles with the Crossref icon will open in a new tab.