PD-like controller for delayed bilateral teleoperation of wheeled robots

DOI10.1080/00207179.2016.1144234zbMATH Open1353.93079OpenAlexW2291483876MaRDI QIDQ2954064FDOQ2954064

Authors: Emanuel Slawiñski, Vicente A. Mut, D. Santiago 

Publication date: 11 January 2017

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: http://hdl.handle.net/11336/61279

Recommendations

• PD‐like controllers for delayed bilateral teleoperation of manipulators robots
• Delayed bilateral teleoperation of wheeled robots including a command metric
• PDC control design for non-holonomic wheeled mobile robots with delayed outputs
• Stable delayed bilateral teleoperation of mobile manipulators
• Bilateral control of teleoperator systems with time-varying delay
• Control of bilateral teleoperators with time delays using only position measurements
• On the delayed kinematic correspondence with variable time delays for the control of the bilateral teleoperation of robots
• Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance
• A novel adaptive robust control architecture for bilateral teleoperation systems under time-varying delays

zbMATH Keywords

time delayforce feedbackbilateral teleoperationPD-like controllerwheeled dynamic robot

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Design techniques (robust design, computer-aided design, etc.) (93B51) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Time-delay systems: an overview of some recent advances and open problems.
• Tutorial on Lyapunov-based methods for time-delay systems
• Bilateral teleoperation: An historical survey
• PD‐like controllers for delayed bilateral teleoperation of manipulators robots
• A novel control design for delayed teleoperation based on delay-scheduled Lyapunov–Krasovskii functionals

Cited In (4)

• Delayed trilateral teleoperation of a mobile robot
• PD‐like controllers for delayed bilateral teleoperation of manipulators robots
• Delayed bilateral teleoperation of wheeled robots including a command metric
• PDE approach for time delays in robotized teleoperation

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