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Position tracking using adaptive control for bilateral teleoperators with time-delays

Author
Nuño, E.; Basañez, L.; Ortega, R.; Obregón-Pulido, G.
Type of activity
Presentation of work at congresses
Name of edition
2010 IEEE International Conference on Robotics and Automation
Date of publication
2010
Presentation's date
2010-05-03
Book of congress proceedings
2010 IEEE International Conference on Robotics and Automation
First page
5370
Last page
5375
Repository
http://hdl.handle.net/2117/15052 Open in new window
Abstract
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 cont...
Citation
Nuño, E. [et al.]. Position tracking using adaptive control for bilateral teleoperators with time-delays. A: IEEE International Conference on Robotics and Automation. "2010 IEEE International Conference on Robotics and Automation". Anchorage: 2010, p. 5370-5375.
Group of research
SIR - Service and Industrial Robotics

Participants

  • Nuño, Emmanuel  (author and speaker )
  • Basañez Villaluenga, Luis  (author and speaker )
  • Ortega, Romeo  (author and speaker )
  • Obregón-Pulido, Guillermo  (author and speaker )