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Synchronization of Bilateral Teleoperators

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Passivity-Based Control and Estimation in Networked Robotics

Part of the book series: Communications and Control Engineering ((CCE))

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Abstract

This chapter first studies passivity of a feedback interconnection of two passive systems under input-output time delays. It is then demonstrated that, the feedback interconnection in the presence of delays is passive under appropriate passivity conditions on the individual systems. This result is then adapted to output synchronization of two passive systems. Subsequently, the result is utilized for synchronization problems for master-slave robots.

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Authors and Affiliations

  1. Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan

    Takeshi Hatanaka & Masayuki Fujita

  2. Department of Mechanical Engineering, University of Maryland, College Park, MD, USA

    Nikhil Chopra

  3. Erik Jonsson School of Engineering and Computer Science, Department of Electrical Engineering, University of Texas at Dallas, Richardson, TX, USA

    Mark W. Spong

Authors
  1. Takeshi Hatanaka
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  2. Nikhil Chopra
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  3. Masayuki Fujita
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  4. Mark W. Spong
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Corresponding author

Correspondence to Takeshi Hatanaka .

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© 2015 Springer International Publishing Switzerland

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Hatanaka, T., Chopra, N., Fujita, M., Spong, M.W. (2015). Synchronization of Bilateral Teleoperators. In: Passivity-Based Control and Estimation in Networked Robotics. Communications and Control Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-15171-7_4

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  • DOI: https://doi.org/10.1007/978-3-319-15171-7_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-15170-0

  • Online ISBN: 978-3-319-15171-7

  • eBook Packages: EngineeringEngineering (R0)

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