Abstract
This paper presents an experimental validation of an extension of the Generalized Predictive Controller (GPC), called Bilateral GPC (BGPC), on a teleoperation system in the presence of communication delays, packet losses and slave force feedback. Contrary to usual GPC, the proposed approach allows to take into account the case where the reference trajectory is not a priori known. This difficulty is due to the slave force feedback which alters the master reference trajectory. Some stability and robustness issues are examined in the frequency domain with a comparison to those obtained with a PID controller. The proposed BGPC ensures robust stability in the presence of environment and transmission time-delays uncertainties. For the experimentations, the communication network is Internet using UDP protocol while the slave robot is a 6-DOF anthropomorphic robot with a force sensor. All the presented results have been obtained between the site of the Laboratory of Vision and Robotic, Bourges, France, and the site of the Department of Technique and Management of Industrial Systems, Vicenza, Italy (distance ≈ 1000 km).
Original language | English |
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Title of host publication | 2007 European Control Conference, ECC 2007 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 1203-1210 |
Number of pages | 8 |
ISBN (Print) | 9783952417386 |
Publication status | Published - Mar 25 2015 |
Event | 2007 9th European Control Conference, ECC 2007 - Kos, Greece Duration: Jul 2 2007 → Jul 5 2007 |
Other
Other | 2007 9th European Control Conference, ECC 2007 |
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Country/Territory | Greece |
City | Kos |
Period | 7/2/07 → 7/5/07 |
ASJC Scopus subject areas
- Control and Systems Engineering