Teleoperation of constrained dynamical systems over a TCP/IP local network

• Published in: 2004 IEEE International Conference on Robotics and Automation Vol. 4; pp. 4122 - 4127 Vol.4
• Main Authors: Casavola, A., Mosca, E., Sorbara, M.
• Format: Conference Proceeding
• Language: English
• Published: Piscataway NJ IEEE 2004
• Subjects: Applied sciences; Communication channels; Communication system control; Computer science; control theory; systems; Control theory. Systems; Delay effects; Exact sciences and technology; Humans; Internet; Laboratories; Master-slave; Robots; Robust stability; TCPIP; Inversed pendulum; Stabilization; Remote operation; Transmission protocol; Voltage; Master slave relationship; Delay time; Dynamical system; Local network; Delayed time
• ISBN: 9780780382329; 0780382323
• ISSN: 1050-4729
• DOI: 10.1109/ROBOT.2004.1308918

In this paper we present a predictive strategy for teleoperating, through communication channels with unknown and possibly unbounded time-delay, a remotely located pre-compensated plant subject to input and state-related pointwise-in-time constraints. In order to demonstrate its effectiveness, a challenging master/slave teleoperating problem over a local TCP/IP network is formulated. It involves a locally pre-compensated laboratory cart/rod Inverted Pendulum as a remote plant and the problem consists in its wide-range stabilization under constraints on the cart motor voltage and rod angle excursion, while providing tracking performance on the cart position.