Robust saturation-based control of bilateral teleoperation without velocity measurements

DOI10.1002/RNC.3214MaRDI QIDQ3465694zbMATH OpenOpenAlexFDO

Authors Dihua Zhai, Yuanqing Xia

Publication date 22 January 2016

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

Full work available at URL https://doi.org/10.1002/rnc.3214

zbMATH Keywords

asymmetric time-varying delaynon-velocity measurementsnonlinear teleoperationsaturation

Mathematics Subject Classification ID

Hierarchical systems (93A13) Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Stability of nonlinear teleoperators using PD controllers without velocity measurements
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• Teleoperation in the presence of varying time delays and sandwich linearity in actuators

Cites work

• A globally convergent adaptive controller for robot manipulators
• Asymptotic convergence from L/sub p/ stability
• Bilateral teleoperation: An historical survey
• Control of semi-autonomous teleoperation system with time delays
• Control schemes for stable teleoperation with communication delay based on IOS small gain theorem
• Delay-dependent stability and stabilization of neutral time-delay systems
• New stability criteria for networked teleoperation system
• Output feedback H_∞ control of systems with parameter uncertainty
• Passivity-based control for bilateral teleoperation: a tutorial
• Robust control of robot arms including motor dynamics
• Stability of nonlinear teleoperators using PD controllers without velocity measurements
• Stabilization of bilaterally controlled teleoperators with communication delay: An ISS approach
• Synchronization of bilateral teleoperators with time delay
• Teleoperation in the presence of varying time delays and sandwich linearity in actuators

Cited in

(9)

• Composite adaptive control for bilateral teleoperation systems without persistency of excitation
• Position tracking in delayed bilateral teleoperators without velocity measurements
• Adaptive finite-time control for nonlinear teleoperation systems with asymmetric time-varying delays
• Integrated adaptive robust control for multilateral teleoperation systems under arbitrary time delays
• Stability of nonlinear teleoperators using PD controllers without velocity measurements
• Effects of quantization and saturation on performance in bilateral teleoperator
• Active disturbance rejection control for teleoperation systems with actuator saturation
• Adaptive stabilization of nonlinear teleoperation systems: An SIIOS approach
• Transparent bilateral teleoperation interacting with unknown remote surfaces with a force/velocity observer design

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