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Output-feedback control of nonlinear bilateral teleoperators

Sarras, I.; Nuño, E.; Kinnaert, M.; Basañez, L.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2012 - American Control Conference
Any de l'edició
Data de presentació
Llibre d'actes
Proc. of the 2012 American Control Conference
Pàgina inicial
Pàgina final
Institute of Electrical and Electronics Engineers (IEEE)
Repositori Obrir en finestra nova
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 e...
Sarras, I. [et al.]. Output-feedback control of nonlinear bilateral teleoperators. A: American Control Conference. "Proc. of the 2012 American Control Conference". Montreal: Institute of Electrical and Electronics Engineers (IEEE), 2012, p. 3490-3495.
Paraules clau
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
Grup de recerca
SIR - Service and Industrial Robotics


  • Sarras, Ioannis  (autor ponent)
  • Nuño, Emmanuel  (autor ponent)
  • Kinnaert, Michel  (autor ponent)
  • Basañez Villaluenga, Luis  (autor ponent)