Reset control for passive bilateral teleoperation

Alejandro Fernndez Villaverde; Antonio Barreiro Blas; Joaqun Carrasco; Alfonso Baos Torrico

doi:10.1109/TIE.2010.2077610

Reset control for passive bilateral teleoperation

Alejandro Fernndez Villaverde, Antonio Barreiro Blas, Joaqun Carrasco, Alfonso Baos Torrico

Research output: Contribution to journal › Article › peer-review

Abstract

Communication delays are problematic for teleoperated systems. They give rise to a tradeoff between speed and robustness, which cannot be overcome by means of linear controllers. In order to solve this problem, in this paper, we present a novel approach that combines passivity-based techniques and reset-control principles. In this way, it is possible to obtain simultaneously the robust stability properties of passive control and the performance improvement enabled by reset strategies. Experimental and simulation results are presented, which confirm the good behavior achieved with this method. © 2006 IEEE.

Original language	English
Article number	5582229
Pages (from-to)	3037-3045
Number of pages	8
Journal	IEEE Transactions on Industrial Electronics
Volume	58
Issue number	7
DOIs	https://doi.org/10.1109/TIE.2010.2077610
Publication status	Published - Jul 2011

Keywords

Nonlinear control
passivity
reset control
teleoperation

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10.1109/TIE.2010.2077610

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title = "Reset control for passive bilateral teleoperation",

abstract = "Communication delays are problematic for teleoperated systems. They give rise to a tradeoff between speed and robustness, which cannot be overcome by means of linear controllers. In order to solve this problem, in this paper, we present a novel approach that combines passivity-based techniques and reset-control principles. In this way, it is possible to obtain simultaneously the robust stability properties of passive control and the performance improvement enabled by reset strategies. Experimental and simulation results are presented, which confirm the good behavior achieved with this method. {\textcopyright} 2006 IEEE.",

keywords = "Nonlinear control, passivity, reset control, teleoperation",

author = "Villaverde, {Alejandro Fernndez} and Blas, {Antonio Barreiro} and Joaqun Carrasco and Torrico, {Alfonso Baos}",

year = "2011",

month = jul,

doi = "10.1109/TIE.2010.2077610",

language = "English",

volume = "58",

pages = "3037--3045",

journal = "IEEE Transactions on Industrial Electronics",

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TY - JOUR

T1 - Reset control for passive bilateral teleoperation

AU - Villaverde, Alejandro Fernndez

AU - Blas, Antonio Barreiro

AU - Carrasco, Joaqun

AU - Torrico, Alfonso Baos

PY - 2011/7

Y1 - 2011/7

N2 - Communication delays are problematic for teleoperated systems. They give rise to a tradeoff between speed and robustness, which cannot be overcome by means of linear controllers. In order to solve this problem, in this paper, we present a novel approach that combines passivity-based techniques and reset-control principles. In this way, it is possible to obtain simultaneously the robust stability properties of passive control and the performance improvement enabled by reset strategies. Experimental and simulation results are presented, which confirm the good behavior achieved with this method. © 2006 IEEE.

AB - Communication delays are problematic for teleoperated systems. They give rise to a tradeoff between speed and robustness, which cannot be overcome by means of linear controllers. In order to solve this problem, in this paper, we present a novel approach that combines passivity-based techniques and reset-control principles. In this way, it is possible to obtain simultaneously the robust stability properties of passive control and the performance improvement enabled by reset strategies. Experimental and simulation results are presented, which confirm the good behavior achieved with this method. © 2006 IEEE.

KW - Nonlinear control

KW - passivity

KW - reset control

KW - teleoperation

U2 - 10.1109/TIE.2010.2077610

DO - 10.1109/TIE.2010.2077610

M3 - Article

SN - 0278-0046

VL - 58

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EP - 3045

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

IS - 7

M1 - 5582229

ER -

Reset control for passive bilateral teleoperation

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Keywords

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