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Tesi etd-05122008-151010


Tipo di tesi
Tesi di laurea specialistica
Autore
SATLER, MASSIMO
URN
etd-05122008-151010
Titolo
Bilateral teleoperation under time-varying delay using wave variables.
Dipartimento
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Relatori
Relatore Avizzano, Carlo Alberto
Relatore Frisoli, Antonio
Parole chiave
  • Bilateral teleoperation
  • passivity
  • varying delays
  • wave variables
Data inizio appello
05/06/2008
Consultabilità
Parziale
Data di rilascio
05/06/2048
Riassunto
Bilateral teleoperation systems submitted to time delay are affected by serious stability problems. It's well known than even a small amount of time delay in a closed-loop control system, if untreated, can cause instability. Anyway stability remains the first requirement for any dynamical system.

Wave variables method is an important approach that guarantees stability regardless of the time delay. However this method is able to deal with constant time delays.

In the thesis wave variables method is reviewed. Particular attention is focused on bilateral teleoperation schemes under time-varying communication delays. Based on the wave variables framework a method to treat with time-varying delay problems is also developed and systematically analyzed.
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