2011 年 9 巻 1 号 p. 1483-1490
In this paper, a bilateral controller of teleoperated electric vehicle system with time delay is presented using passivity approaches. We showed that the application of wave variable formalism allows the stability of the system in spite of the communication delays and scaling factors between the operator and the electric vehicle. Conditions of the passivity are given and the stability is proved for our teleoperation system. Finally, for demonstration we used the proposed architecture in real network environment.