Impedance-based sliding mode control for nonlinear teleoperators under constant time delay
| Autor: | Luis A. Garcia-Zarco, Alan G. Lopez-Segovia, Tomas Salgado-Jimenez, L.G. Garcia-Valdovinos, Hugo Santacruz-Reyes |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry 020208 electrical & electronic engineering 02 engineering and technology Sliding mode control Computer Science::Robotics Nonlinear system Differentiator 020901 industrial engineering & automation Control theory Teleoperation 0202 electrical engineering electronic engineering information engineering Robot Constant (mathematics) business Parametric statistics |
| Zdroj: | CCA |
| DOI: | 10.1109/cca.2016.7588019 |
| Popis: | New technological advancements in the communication channel of time delay teleoperation systems have attracted a lot of attention, which have produced recently new control schemes, under a variety of conditions, including unknown (either constant or varying) time delay and parametric uncertainty. In this paper, a well-known model free, exact differentiator, is used to estimate the full state along with a chattering free second order sliding mode controller to guarantee robust impedance tracking under constant, but unknown, time delay of nonlinear multi-degree of freedom (n - DOF) robots. In addition, a new nominal reference is tailored in order to introduce a change of coordinates in the slave closed-loop dynamics. Experimental results, that validate the predicted behavior, are presented and discussed using the Phantom Premium 1.0 as the master robot and the Catalyst-5 virtual model as the slave robot, whose dynamics is solved online. |
| Databáze: | OpenAIRE |
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