Bilateral control of nonlinear teleoperation with time varying communication delays

This paper addresses the bilateral control of nonlinear teleoperation with time varying communication delays. The proposed methods are two types of simple PD-type controllers which consists of D-controls depending on (the upper bound of) the rate of change of delay and P-controls depending on the upper bound of round-trip delay. Using Lyapunov-Krasovskii function, the delay-dependent stability of the origin is shown for the ranges of gains. Furthermore the proposed strategies also achieve master-slave position coordination and bilateral static force reflection. Several experimental results show the effectiveness of our proposed methods. ©2008 AACC

Teleoperation Data Transport over IP networks. Bidirectionality and efficiency

[EN] The article proposes a new transport scheme for teleoperation data flows via the Internet. An overall analysis of bilateral teleoperation data, encapsulated in IP packets are maded. The analysis distinguish between multimedia traffic, supermedia traffic and control traffic, and allows for TCPFriendly flow control systems. It presents simulation results and comparisons with other transport schemes, using the trinomial flow control algorithm, but other flow control methods are possible. The proposed scheme takes advantage of the bidirectionality of the control loop and the small size of the teleoperation data, to improve the efficiency of the transmission; it aims to serve as network contribution to the stability control efforts of teleoperation systems with variable delays. The proposed scheme presents a conformant transport header to equation-based flow control protocol, while maintaining efficiency, and provides some uses of certain IP header fields.[ES] Este artículo propone un nuevo esquema de protocolo de transporte que aprovecha las particularidades de flujos de datos de teleoperación a través de Internet. Se presenta como resultado de un análisis global de los datos de la teleoperación bilateral para ser encapsulados en paquetes compatibles IP. Distingue entre tráfico multimedia, tráfico supermedia y tráfico de control, y ofrece la posibilidad de sistemas de control del flujo que sean amigables con el tráfico TCP (TCPFriendly) mayoritario en Internet. Se presentan resultados de simulación y comparaciones con otros esquemas, utilizando el sistema de control del flujo trinomial, pero son posibles otros sistemas de control. El esquema propuesto aprovecha la bidireccionalidad del lazo de control y el pequeño tamaño de los datos de teleoperación para la mejora de la eficiencia de la transmisión manteniendo la misma información a enviar, y pretende servir de aportación por parte de la red, a los esfuerzos de modelar la estabilidad de sistemas de teleoperación a través de redes con retardos variables mediante las actuaciones sobre los controladores Maestro y Esclavo. En el artículo se presenta una cabecera de transporte adecuada a los sistemas de control del flujo basados en ecuación (Equation-Based Flow Control), manteniendo la eficiencia, y establece unos usos de determinados campos de la cabecera actual de Internet.Este trabajo ha sido realizado parcialmente gracias al apoyo del Ministerio de Ciencia y Tecnología de España en el marco de los proyectos CICYT DPI2007-66455-C02-02 y DPI2008-06738-C02-03. 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