Title:
Dissipativity-Based Teleoperation with Time-Varying Communication Delays

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dc.contributor.author Varnell, Paul
dc.contributor.author Zhang, Fumin
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2014-02-14T21:52:45Z
dc.date.available 2014-02-14T21:52:45Z
dc.date.issued 2013-09
dc.description Copyright ©2013 IFAC en_US
dc.description Presented at the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys'13), 25-26 September 2013, Koblenz, Germany.
dc.description.abstract We analyze the effects of communication delays in teleoperation systems using dissipativity theory along with explicit models of the operator and robot. We utilize a simple model of the operator's behavior that describes human pointing motions, as generated by an interface such as a mouse pointer or tablet, and we use a robot model that is suitable for mobile robots or robotic manipulators. Using dissipativity conditions for stability, we show that the communication delays can be compensated for in the robot controller with a relatively simple extension to a controller designed for the situation without delays. We also show that the communication delays can lead to problems for human pointing in certain situations; specifically, if the operator overshoots their target, it may lead to instability unless corrective action is taken by the user interface. Simulation is shown to validate the result en_US
dc.embargo.terms null en_US
dc.identifier.citation Varnell, P. and Zhang, F. (2013). "Dissipativity-Based Teleoperation with Time-Varying Communication Delays". Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys'13), 369-376, 2013. en_US
dc.identifier.uri http://hdl.handle.net/1853/50896
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original International Federation of Automatic Control (IFAC)
dc.subject Dissipativity en_US
dc.subject Human-machine interface en_US
dc.subject Robotics en_US
dc.subject Time delay en_US
dc.subject Teleoperation en_US
dc.title Dissipativity-Based Teleoperation with Time-Varying Communication Delays en_US
dc.type Text
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Zhang, Fumin
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
relation.isAuthorOfPublication 65d2541f-4ce1-40d0-923b-09e66eb45b33
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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