Investigation of Wave Variable Control on Bilateral Teleoperation System with Constant Time Delays
Date
2021-12-23
Authors
Sun, Xizhe
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Abstract
Teleoperation Systems allow human operators to perform complex tasks in remote
and hazardous environments. A wide variety of applications based on teleoperation
systems, including space exploration, undersea detection, minimally invasive surgery
etc. have made great contributions to our society. Various feedbacks like sound, visual
and haptic feedbacks are sent to the user in order to enhance the user experience and
improve system performance. With the help of haptic feedbacks, human operators
can achieve remote control and interact with an inaccessible environment. However,
time delays between the master and the slave may cause instability. To guarantee the
stability and improve the transparency, many approaches such as passivity-based control,
adaptive control, robust control, and sliding mode control are widely researched.
This project studied Wave Variable Control approach in teleoperation systems, one
of passivity-based control theories, and discussed its advantages and disadvantages.
Description
Keywords
Wave Variable Contro, Bilateral Teleoperation System, Constant Time Delays