| Autor: |
Salinas, Lucio R., Santiago, Diego, Slawiñski, Emanuel, Mut, Vicente A., Chavez, Danilo, Leica, Paulo, Camacho, Oscar |
| Zdroj: |
International Journal of Control, Automation & Systems; Aug2018, Vol. 16 Issue 4, p1927-1937, 11p |
| Abstrakt: |
This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The proposal includes on the remote site both a P+d control and an SMC strategy in such a way that the advantages of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delaydependent stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and stability of the proposed control scheme. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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