In this work a novel synchronisation scheme for chaotic systems is presented. Taking inspiration from the system decomposition approach, the master and slave are connected via a switch which allows to alternate the signal fed into the slave between the master signal and the slave signal itself. The switching frequency has been taken into account as a control parameter to characterise the synchr...

This article presents a novel adaptive bilateral control scheme for obtaining ideal responses for teleoperation systems with uncertainties. A condition that is equivalent to getting an ideal response in teleoperation has been found to be making the closed-loop dynamics of master and slave manipulators a similar form. An adaptive approach is applied to achieve similarity for the uncertain master...

The ∞ H synchronization problem of the master and slave structure of a second-order neutral master-slave systems with time-varying delays is presented in this paper. Delaydependent sufficient conditions for the design of a delayed output-feedback control are given by Lyapunov-Krasovskii method in terms of a linear matrix inequality (LMI). A controller, which guarantees ∞ H synchronization of th...

This paper presents a model-mediated approach for teleoperation with haptic feedback in the presence of time delays on the order of seconds. The target application for the control scheme is teleoperation of robotic manipulators for space systems in geosynchronous orbit. Previous work in model-mediated teleoperation allowed operators to interact with a virtual model of the remote robot and envir...

This paper presents a new planning/control method to integrate the master and slave site in a teleprogramming system in the framework of a discrete-event dynamic system model. Specifically, a simple tele-robotic partmating task environment is modelled based on a class of Controlled Petri Net (CPN) by associating contact states between objects with state places, and the model is used as the sour...

The application of parallel force/position control to teleoperation systems is considered in this paper. Higher priority is given to position control at the master side and to force control at the slave side of the teleoperation system. The stability and performance of the proposed controller is investigated by analyzing the three decoupled systems obtained from projecting the closed-loop syste...

In the master-slave heterogeneous teleoperation, workspace of slave manipulator is usually much larger than that master manipulator. This paper proposes a 6-DOF bilateral hybrid teleoperation control strategy to map manipulators without changing operation accuracy. The includes admittance and force based on feedback sensor at end two strategies switched autonomously through positioning Sigma.7 ...

A common issue encountered in teleoperation systems is a time-delay in the communication channel. Depending on the type of communication protocol, the delay can be constant or time-varying. In both cases, the delay can seriously degrade performance of teleoperations or even destroy stability. The Smith predictor [1] can be used to compensate for undesirable effects of time-delays. Reference [2]...

We present a control method based on two steps: prediction and prevention. For prediction we use the anticipated synchronization scheme, considering unidirectional coupling between excitable systems in a master-slave configuration. The master is the perturbed system to be controlled, meanwhile the slave is an auxiliary system which is used to predict the master's behavior. The prevention is obt...

This paper presents a new Haptic Rate-Position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing ta...