Stability of nonlinear teleoperators using PD controllers without velocity measurements

DOI10.1016/J.JFRANKLIN.2013.08.022zbMATH Open1293.93253OpenAlexW2014198559WikidataQ58030348 ScholiaQ58030348MaRDI QIDQ398359FDOQ398359

Authors Emmanuel Nuño, Luis Basañez, Carlos Lopez-Franco, Nancy Arana-Daniel

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)

Recommendations

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Cites work

• scientific article; zbMATH DE number 53595 (Why is no real title available?)
• A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints
• Adaptive motion control of rigid robots: A tutorial
• An adaptive controller for nonlinear teleoperators
• An observer-based set-point controller for robot manipulators with flexible joints
• Asymptotic convergence from L/sub p/ stability
• Bilateral teleoperation: An historical survey
• Consensus Problems in Networks of Agents With Switching Topology and Time-Delays
• Control schemes for stable teleoperation with communication delay based on IOS small gain theorem
• Control schemes for teleoperation with time delay: A comparative study
• Passivity-based control for bilateral teleoperation: a tutorial

Cited in

(11)

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

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Uses Software

• PHANSIM

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