Position tracking in delayed bilateral teleoperators without velocity measurements

DOI10.1002/RNC.3358MaRDI QIDQ2800482zbMATH OpenOpenAlexFDO

Authors Ioannis Sarras, Emmanuel Nuño, Luis Basañez, M. Kinnaert

Publication date 15 April 2016

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL http://hdl.handle.net/2117/88162

zbMATH Keywords

bilateral teleoperatorsnonlinear control systemsoutput regulationtime delaysvelocity observers

Mathematics Subject Classification ID

Observability (93B07) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)

Recommendations

• Control of bilateral teleoperators with time delays using only position measurements
• Stable delayed bilateral teleoperation of mobile manipulators
• Robust saturation-based control of bilateral teleoperation without velocity measurements
• Delayed bilateral teleoperation of wheeled robots including a command metric
• On the delayed kinematic correspondence with variable time delays for the control of the bilateral teleoperation of robots
• Synchronization of bilateral teleoperators with time delay
• A new method for bilateral teleoperation passivity under varying time delays
• Stability and transparency of delayed bilateral teleoperation with haptic feedback
• Bilateral teleoperation with communication delays

Cites work

• A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints
• An adaptive controller for nonlinear teleoperators
• Bilateral teleoperation: An historical survey
• Control schemes for stable teleoperation with communication delay based on IOS small gain theorem
• Control schemes for teleoperation with time delay: A comparative study
• Coordination of multi-agent Euler-Lagrange systems via energy-shaping: networking improves robustness
• Erratum to ``An adaptive controller for nonlinear teleoperators [Automatica 46 (2010) 155-159]
• Joint end-to-end loss-delay hidden Markov model for periodic UDP traffic over the Internet
• Passivity-based control for bilateral teleoperation: a tutorial
• Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems
• Stability of nonlinear teleoperators using PD controllers without velocity measurements
• Synchronization of bilateral teleoperators with time delay
• Synchronization of Networks of Nonidentical Euler-Lagrange Systems With Uncertain Parameters and Communication Delays

Cited in

(7)

• Observer design for the synchronization of bilateral delayed teleoperators
• Velocity observer design for the consensus in delayed robot networks
• Robust saturation-based control of bilateral teleoperation without velocity measurements
• Control of bilateral teleoperators with time delays using only position measurements
• Effects of quantization and saturation on performance in bilateral teleoperator
• On the delayed kinematic correspondence with variable time delays for the control of the bilateral teleoperation of robots
• Transparent bilateral teleoperation interacting with unknown remote surfaces with a force/velocity observer design

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