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Title:
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Position tracking using adaptive control for bilateral teleoperators with time-delays
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Author:
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Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo; Obregón-Pulido, Guillermo
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
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Abstract:
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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. |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robots--Control systems
-Robots -- Sistemes de control |
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Rights:
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Document type:
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Article - Published version
Conference Object |
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