Control Methods for Internet-Based Teleoperation Systems: A Review

Stability and task accomplishment of Internet-based teleoperation systems are greatly susceptible to the network latency and uncertainty. Control of a teleoperation system aims to provide satisfactory performance of the remote task and in some cases to provide the operator with sensory feedback. Thi...

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Bibliographic Details
Published in:IEEE transactions on human-machine systems 2019-02, Vol.49 (1), p.32-46
Main Authors: Kebria, Parham M., Abdi, Hamid, Dalvand, Mohsen Moradi, Khosravi, Abbas, Nahavandi, Saeid
Format: Article
Language:English
Subjects:
Algorithms
Asymptotic stability
Control
Control algorithms
Control design
Control methods
Control stability
Control systems
Delay effects
Internet
Internet based
Network latency
Nonlinear systems
review
Sensory feedback
Stability criteria
Task analysis
teleoperation
Teleoperators
time delay
Uncertainty
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Summary:Stability and task accomplishment of Internet-based teleoperation systems are greatly susceptible to the network latency and uncertainty. Control of a teleoperation system aims to provide satisfactory performance of the remote task and in some cases to provide the operator with sensory feedback. This paper reviews the recent control methodologies used for teleoperation systems with model uncertainty, unknown time-varying delay, and Internet-based communication. The focus is on control algorithms that are suitable for nonlinear uncertain systems to decrease restrictions and increase application scope. The key features of these control algorithms are highlighted, and their advantages and disadvantages are comparatively discussed.
ISSN:2168-2291
2168-2305
DOI:10.1109/THMS.2018.2878815