CONTROL THROUGH STATE CONVERGENCE OF TELEOPERATION SYSTEMS WITH VARYING TIME DELAY

José M. Azouın; Oscar Reinoso; José M. Sabater; Rafael Aracil

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Paper

CONTROL THROUGH STATE CONVERGENCE OF TELEOPERATION SYSTEMS WITH VARYING TIME DELAY

Topics: Telerobotics and Teleoperation

In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 379-382, 2004 , Setúbal, Portugal

Authors: José M. Azouın ¹ ; Oscar Reinoso ¹ ; José M. Sabater ¹ and Rafael Aracil ²

Affiliations: ¹ Universidad Miguel Hernández, Spain ; ² DISAM, ETSII, Universidad Politécnica de Madrid, Spain

Keyword(s): Teleoperation, control system, time delay, state space.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robotics and Automation ; Telerobotics and Teleoperation

Abstract: Teleoperation systems that use Internet as communication channel must deal with varying time delays. In these situations, the system can become unstable due to the irregular variations of the time delay. In this paper, a control method of teleoperation systems that we presented considering constant time delays is applied to control a teleoperation system with varying time delays. The control gains obtained with a constant time delay can be used to control the teleoperation system with varying time delays because of the control method robustness. Experimental results are presented to illustrate the validity of the method.

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Paper citation in several formats:

M. Azouın, J.; Reinoso, O.; M. Sabater, J. and Aracil, R. (2004). CONTROL THROUGH STATE CONVERGENCE OF TELEOPERATION SYSTEMS WITH VARYING TIME DELAY. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-12-0; ISSN 2184-2809, SciTePress, pages 379-382. DOI: 10.5220/0001125603790382

@conference{icinco04,
author={José {M. Azouın}. and Oscar Reinoso. and José {M. Sabater}. and Rafael Aracil.},
title={CONTROL THROUGH STATE CONVERGENCE OF TELEOPERATION SYSTEMS WITH VARYING TIME DELAY},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2004},
pages={379-382},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001125603790382},
isbn={972-8865-12-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - CONTROL THROUGH STATE CONVERGENCE OF TELEOPERATION SYSTEMS WITH VARYING TIME DELAY
SN - 972-8865-12-0
IS - 2184-2809
AU - M. Azouın, J.
AU - Reinoso, O.
AU - M. Sabater, J.
AU - Aracil, R.
PY - 2004
SP - 379
EP - 382
DO - 10.5220/0001125603790382
PB - SciTePress