Passivity and RISE based robust control for bilateral teleoperation system with communication delay

Yasunori Kawai, Toru Namerikawa

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

In this paper, a method for passivity- and robust integral of the sign of the error (RISE)-based control of a nonlinear teleoperation system with communication delays is proposed. This control strategy can accurately achieve coordinate positioning under conditions with viscous friction and unmodeled effects compensation errors, and its stability condition is independent of robot model parameter uncertainties and time delay. Using passivity-based stability analysis, the stability and tracking performance of this system are demonstrated, and experimental trials are performed to verify its effectiveness.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Control Applications, CCA 2013
出版社Institute of Electrical and Electronics Engineers Inc.
ページ270-275
ページ数6
ISBN(印刷版)9781479915590
DOI
出版ステータスPublished - 2013
イベント2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad, India
継続期間: 2013 8月 282013 8月 30

出版物シリーズ

名前Proceedings of the IEEE International Conference on Control Applications

Other

Other2013 IEEE International Conference on Control Applications, CCA 2013
国/地域India
CityHyderabad
Period13/8/2813/8/30

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 数学一般

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