Dinh, Quang Truong, Yong Il, Yoon, Ha, Cheokun and Marco, James (2016) A real-time bilateral teleoperation control system over imperfect network. In: Jian, Kuo Di , (ed.) Real-time Systems. InTech. ISBN 9789535147749 (In Press)

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Abstract

Functionality and performance of modern machines are directly affected by the implementation of real-time control systems. Especially in networked teleoperation applications, force feedback control and networked control are two of the most important factors and determine the performance of the whole system. In force feedback control, generally it is necessary but difficult and expensive to attach sensors (force/torque/pressure sensors) to detect the environment information in order to drive properly the feedback force. In networked control, there always exist inevitable random time-varying delays and packet losses, which may degrade the system performance and, even worse, cause the system instability. Therefore in this chapter, a study on a real-time bilateral teleoperation control system (BTCS) over an imperfect network is discussed. First, current technologies for teleoperation as well as bilateral teleoperation control systems are briefly reviewed. Second, an advanced concept for designing a bilateral teleoperation networked control (BTNCS) system is proposed and the working principle is clearly explained. Third, an approach to develop a force-sensorless feedback control (FSFC) is proposed to simplify the sensor requirement in designing the BTNCS while the correct sense of interaction between the slave and environment can be ensured. Forth, a robust adaptive networked control (RANC) -based master controller is introduced to deal with control of the slave over the network containing both time delays and information loss. Case studies are carried out to evaluate the applicability of the suggested methodology.

Item Type:	Book Item
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Science > WMG (Formerly the Warwick Manufacturing Group)
Library of Congress Subject Headings (LCSH):	Automatic control, Feedback (Electronics) , Electric network topology
Publisher:	InTech
ISBN:	9789535147749
Book Title:	Real-time Systems
Editor:	Jian, Kuo Di
Official Date:	1 March 2016
Dates:	Date Event 1 March 2016 Accepted
Date of first compliant deposit:	9 March 2016
Status:	Peer Reviewed
Publication Status:	In Press
Access rights to Published version:	Open Access

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