Position tracking using adaptive control for bilateral teleoperators with time-delays

Autor:	Nuño Ortega, Emmanuel, Basañez Villaluenga, Luis, Ortega, Romeo, Obregón-Pulido, Guillermo
Přispěvatelé:	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
Jazyk:	angličtina
Rok vydání:	2010
Předmět:	Robots -- Sistemes de control Robots--Control systems Informàtica::Robòtica [Àrees temàtiques de la UPC]
Zdroj:	UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) Recercat. Dipósit de la Recerca de Catalunya instname
Popis:	This paper presents two versions of adaptive controllers for nonlinear bilateral teleoperators, each providing asymptotic convergence of velocity and position errors to zero, independent of constant time-delays. Moreover, the proposed schemes do not rely on the use of the scattering transformation. The paper also proves that the teleoperator is Input-to-State Stable from human operator and environment inputs to some synchronization signals. Simulations show the effectiveness of the proposed controllers.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::82f0a656177466b372a2db371223f810 https://hdl.handle.net/2117/15052 Zobrazit plný text záznamu