Time Domain Passivity Controller for 4-Channel Time-Delay Bilateral Teleoperation


This paper presents an extension of the time-domain passivity management approach to a four-channel bilateral controller beneath the results of time delays. Time-domain passivity management has been used successfully to stabilize teleoperation systems with position-force and position-position controllers; but, the performance with such control architectures is sub-optimal both with and without time delays. This work extends the network representation of the time-domain passivity controller to the four-channel architecture, that provides perfect transparency to the user while not time delay. The proposed design relies on modelling the controllers as dependent voltage sources and using only series passivity controllers. The obtained results are shown on a 1 degree-of-freedom setup and illustrate the stabilization behaviour of the proposed controller when time delay is present in the communication channel.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE :Spectral Domain Sampling of Graph Signals - 2018ABSTRACT:Sampling ways for graph signals within the graph spectral domain are presented. Though the standard sampling of graph signals will be considered sampling
PROJECT TITLE :Single Image Super-Resolution Based on Wiener Filter in Similarity Domain - 2018ABSTRACT:Single image super-resolution (SISR) is an sick-posed problem aiming at estimating a plausible high-resolution (HR) image
PROJECT TITLE :MIMO-Identification Techniques for Rapid Impedance-based Stability Assessment of Three Phase Systems in DQ Domain - 2017ABSTRACT:Grid impedance and the output impedance of grid-connected inverter are important parameters
PROJECT TITLE : Hierarchy-Cutting Model based Association Semantic for Analyzing Domain Topic on the Web - 2017 ABSTRACT: Association link network (ALN) can organize huge Web info to provide several intelligent services in
PROJECT TITLE : No-reference quality assessment for Multiplydistorted images in gradient domain - 2016 ABSTRACT: In apply, pictures on the market to customers sometimes bear many stages of processing including acquisition,

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry