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Passivity-based control for bilateral teleoperation: A tutorial

Autor
Nuño, E.; Basañez, L.; Ortega, R.
Tipus d'activitat
Article en revista
Revista
Automatica
Data de publicació
2011-03
Volum
47
Número
3
Pàgina inicial
485
Pàgina final
495
DOI
https://doi.org/10.1016/j.automatica.2011.01.004 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/13433 Obrir en finestra nova
Resum
This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scattering–based, damping injection and adaptive controllers, ensure asymptotic stability in multiple situations that range from constant to variable time-delays, with or without scattering transformation and with or without position tracking capabilities. Although all controllers exploit the basic property of pas...
Citació
Nuño, E.; Basañez, L.; Ortega, R. Passivity-based control for bilateral teleoperation: A tutorial. "Automatica", Març 2011, vol. 47, núm. 3, p. 485-495.
Grup de recerca
SIR - Service and Industrial Robotics

Participants