Delay compensation for nonlinear teleoperators using predictor observers

Dikyar, Serhat and Leblebici, Tuğba and Özçelik, Duruhan and Ünel, Mustafa and Şabanoviç, Asif and Bogosyan, Seta (2010) Delay compensation for nonlinear teleoperators using predictor observers. In: 36th Annual Conference of the IEEE Industrial Electronics Society (IECON 2010), Phoenix, Arizona, USA

PDF (This is a RoMEO green publisher -- author can archive publisher's version/PDF) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader


This paper presents a delay compensation technique for nonlinear teleoperators by developing a predictor type sliding mode observer (SMO) that estimates future states of the slave operator. Predicted states are then used in control formulation. In the proposed scheme, disturbance observers (DOB) are also utilized to linearize nonlinear dynamics of the master and slave operators. It is shown that utilization of disturbance observers and predictor observer allow simple PD controllers to be used to provide stable position tracking for bilateral teleoperation. Proposed approach is verified with simulations where it is compared with two state-of-the-art methods. Successful experimental results with a bilateral teleoperation system consisting of a pair of pantograph robots also validates the proposed method.

Item Type:Papers in Conference Proceedings
Subjects:T Technology > T Technology (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
ID Code:15281
Deposited By:Mustafa Ünel
Deposited On:25 Nov 2010 16:45
Last Modified:22 May 2019 12:35

Repository Staff Only: item control page