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Output-feedback control of nonlinear bilateral teleoperators
Sarras, Ioannis; Nuño, Emmanuel; Kinnaert, Michel; Basañez Villaluenga, Luis
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Robòtica Industrial i Servei
The output-feedback design problem for a bilateral teleoperator scheme is considered. The recently proposed Immersion and Invariance (I&I) observer is used to obtain an exponentially convergent estimate of the unmeasured velocities. Moreover, it is proven that when this observer is interconnected to the nonlinear teleoperator together with a Proportional plus damping (P+d) controller, the overall system is globally stable. Finally, in the case when the human operator and the environment do not exert forces on the local and remote manipulator, respectively, global asymptotic convergence to zero of the velocities and of the position tracking error is achieved. These results are obtained by introducing two important design modifications ensuring the explicit derivation of the observer dynamics and that the interconnected system inherits the same stability properties as in the full-measurement case. The theoretical results are illustrated with simulations using local and remote two degree-of-freedom nonlinear manipulators.
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Automatic control
Asymptotic convergence
Bilateral teleoperators
Design modifications
Design problems
Human operator
Nonlinear teleoperator
Output feedback controls
Output-feedback
Position tracking errors
Remote manipulators
Stability properties
Theoretical result
Two-degree-of-freedom
Control automàtic
info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/conferenceObject
Institute of Electrical and Electronics Engineers (IEEE)
         

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