CONTROL THROUGH STATE CONVERGENCE OF TELEOPERATION SYSTEMS WITH VARYING TIME DELAY

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

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.

References

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Paper Citation


in Harvard Style

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, pages 379-382. DOI: 10.5220/0001125603790382


in Bibtex Style

@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},
}


in EndNote Style

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
AU - M. Azouın J.
AU - Reinoso O.
AU - M. Sabater J.
AU - Aracil R.
PY - 2004
SP - 379
EP - 382
DO - 10.5220/0001125603790382