Improvement in the conservatism of the time domain passivity approach in delayed position-position teleoperation system
摘要
In this paper, using time domain passivity approach and energy storage capability of the coupling controllers in a bilateral teleoperation system as a storage element, an innovative control method for position-position architecture is proposed which reduces unnecessary conservatism caused by the conventional direction dependent energy monitoring. An ideal value for the energy storage element is obtained and it is shown that the passivity can be guaranteed by restricting the system output energy to some desired values based on the obtained ideal one. Simulation results show the less energy dissipation and improved position tracking in comparison with the conventional approaches.