Stability of nonlinear teleoperators using PD controllers without velocity measurements

DOI10.1016/J.JFRANKLIN.2013.08.022zbMath1293.93253OpenAlexW2014198559WikidataQ58030348 ScholiaQ58030348MaRDI QIDQ398359

Emmanuel Nuño, Nancy Arana-Daniel, Carlos López-Franco, Luis Basañez

Publication date: 15 August 2014

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2013.08.022

zbMATH Keywords

stabilitynetworks of multiple robotsnonlinear bilateral teleoperation systemsproportional-derivative (PD) like controllers

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Stability of control systems (93D99)

Related Items (10)

Robust saturation-based control of bilateral teleoperation without velocity measurements ⋮ Operational space consensus of multiple heterogeneous robots without velocity measurements ⋮ Guaranteed cost control design for delayed teleoperation systems ⋮ A new result on PD controller design for second order nonlinear uncertain systems ⋮ Fractional order modeling and control for under-actuated inverted pendulum ⋮ Optimal control in teleoperation systems with time delay: a singular perturbation approach ⋮ Position tracking in delayed bilateral teleoperators without velocity measurements ⋮ Velocity observer design for the consensus in delayed robot networks ⋮ Task space consensus in networks of heterogeneous and uncertain robotic systems with variable time‐delays ⋮ Adaptive neural network tracking control for multiple uncertain Euler-Lagrange systems with communication delays

Uses Software

• PHANSIM

Cites Work

• Unnamed Item
• Passivity-based control for bilateral teleoperation: a tutorial
• Control schemes for stable teleoperation with communication delay based on IOS small gain theorem
• Bilateral teleoperation: An historical survey
• Adaptive motion control of rigid robots: A tutorial
• An adaptive controller for nonlinear teleoperators
• A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints
• An observer-based set-point controller for robot manipulators with flexible joints
• Asymptotic convergence from L/sub p/ stability
• Control schemes for teleoperation with time delay: A comparative study
• Consensus Problems in Networks of Agents With Switching Topology and Time-Delays

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