|Master-Slave Teleoperation of Underactuated Mechanical Systems with Communication Delays
Ollin Peñaloza-Mejía*, Luis A. Márquez-Martínez, Jaime Alvarez-Gallegos, and Joaquín Alvarez
International Journal of Control, Automation, and Systems, vol. 15, no. 2, pp.827-836, 2017
Abstract : "This paper addresses the control problem of master-slave teleoperation of a class of underactuated mechanical
systems with communication delays. The core of the proposed solution introduces a suitable coupling
matrix, so the complete error dynamics is written in a linear part, and a nonlinear one, for which the matching
condition is satisfied. Then, from this representation, discontinuous causal controllers are designed to achieve bilateral
coordination in force and position. The proposal is valid for underactuated manipulators with second-order
non-holonomic constraints, and represents, to our best knowledge, a contribution in teleoperation systems where
these mechanisms have been barely considered. Numerical simulations and real-time experiments developed over
the Internet are provided to show the effectiveness of the proposed control scheme."
Teleoperation, time-delay systems, underactuated mechanical systems.