Passive Stability and Adaptive Control of Teleoperated System using Wave Variables and Predictor Techniques

TL;DR

This paper proposes a passivity-based adaptive control method for teleoperation systems that uses wave variables and predictor techniques to ensure stability and improve convergence under high communication delays, validated through experiments and simulations.

Contribution

It introduces a combined passivity-based and predictor approach using Smith and Minimum Jerk predictors to enhance stability and convergence in delayed teleoperation systems.

Findings

Stable teleoperation achieved with high delays.

Improved convergence rate demonstrated in experiments.

Effective use of wave variables and predictors.

Abstract

This paper addresses the challenge of achieving stable adaptive teleoperation and improving the convergence rate in the presence of high communication time delays. We employ a passivity-based formalism to establish stability using wave variables and wave scattering techniques, and we enhance the convergence rate by combining it with predictor-based approaches. The elevated time delay within the teleoperated communication layer is known to induce an oscillatory behavior, which reduces the convergence rate and increases the settling time in the convergence of power variables. This issue is addressed in this paper by utilizing a Smith predictor on the operator end and Minimum Jerk (MJ) predictor on the remote end. We present experimental and simulation results to demonstrate the improvements, ensuring stable teleoperation under high communication time delays.