Investigation of Wave Variable Control on Bilateral Teleoperation System with Constant Time Delays

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dc.contributor.authorSun, Xizhe
dc.contributor.supervisorConstantinescu, Daniela
dc.date.accessioned2021-12-23T23:44:00Z
dc.date.available2021-12-23T23:44:00Z
dc.date.copyright2021en_US
dc.date.issued2021-12-23
dc.degree.departmentDepartment of Mechanical Engineeringen_US
dc.degree.levelMaster of Engineering M.Eng.en_US
dc.description.abstractTeleoperation Systems allow human operators to perform complex tasks in remote and hazardous environments. A wide variety of applications based on teleoperation systems, including space exploration, undersea detection, minimally invasive surgery etc. have made great contributions to our society. Various feedbacks like sound, visual and haptic feedbacks are sent to the user in order to enhance the user experience and improve system performance. With the help of haptic feedbacks, human operators can achieve remote control and interact with an inaccessible environment. However, time delays between the master and the slave may cause instability. To guarantee the stability and improve the transparency, many approaches such as passivity-based control, adaptive control, robust control, and sliding mode control are widely researched. This project studied Wave Variable Control approach in teleoperation systems, one of passivity-based control theories, and discussed its advantages and disadvantages.en_US
dc.description.scholarlevelGraduateen_US
dc.identifier.urihttp://hdl.handle.net/1828/13644
dc.language.isoenen_US
dc.rightsAvailable to the World Wide Weben_US
dc.subjectWave Variable Controen_US
dc.subjectBilateral Teleoperation Systemen_US
dc.subjectConstant Time Delaysen_US
dc.titleInvestigation of Wave Variable Control on Bilateral Teleoperation System with Constant Time Delaysen_US
dc.typeprojecten_US

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