Gain-Scheduled Compensation for Time-Varying Delay in Bilateral Teleoperation Systems

摘要

Recently, many new potential uses of advanced telerobotic systems have been explored, such as a computer networked robotics and a teleoperation on a WWW browser. The business communica- tion channels and not the exclusive channels undergo large variation of the time delay. Therefore, it is impossible to achieve high performance over the entire operating range with a single robust LTI controller. Provided that the time delay is measured on-line, it is desirable to use controllers that incorporate such measurement. In this paper, the design of the time-varying H_∞ controllers incorpo- rates to adjust to the current time delay is discussed based on the framework of the gain-scheduling. The validity of proposed method is confirmed by the simulation and the experiments using a direct- drive master-slave system.