2024/08/15 by Naveen Kumar Rajarajan, Rajarajan, Naveen Kumar, Sridhar Babu Mudhangulla +3
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Distributed Control Multi-Agent Systems #FOS: Mathematics #Optimization and Control (math.OC) #Teleoperation and Haptic Systems
paper · pdf · doi:10.48550/arxiv.2408.07878
openalex publication_date 2024/08/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.