Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller
نویسندگان
چکیده
منابع مشابه
Sliding-Mode Controller for Bilateral Teleoperation with Varying Time Delay
A bstroct— Bilateral teleoperation systems, connected to computer networks such as Internet have to deal with varying communication time delay. And the entire system is easy to become unstable due to irregular time delay. In this paper, we design a sliding-mode controller for the slave and an impedance controller for the master. We propose a modified sliding-mode controller, in which the nonlin...
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In the previous works, we have proposed new control schemes based on the sliding mode control and impedance control in order to cope with varying time delays. However, the previous controller needs local compliance to reduce contact forces between the slave and environment. In this paper, we modify the previous one to have a sliding surface for the slave include an impedance model. Since the no...
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Several control strategies have been proposed to deal with time delay, parametric uncertainties and nonlinearities for bilateral teleoperation. Furthermore, published works had shown that sliding mode control is a viable option to deal with parametric uncertainty and hard nonlinearities. In this paper, an impedance control based on sliding mode techniques is presented, to guarantee robust track...
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ژورنال
عنوان ژورنال: IEEE Transactions on Industrial Electronics
سال: 2009
ISSN: 0278-0046
DOI: 10.1109/tie.2009.2018538