TY - GEN
T1 - Control of a nonlinear teleoperation system by state convergence
AU - Tafur, Julio C.
AU - García, Cecilia
AU - Aracil, Rafael
AU - Saltaren, Roque
PY - 2011
Y1 - 2011
N2 - In this work, we proposes a control strategy that allows the remote manipulator follow the local manipulator through the state convergence even if it has a delay in the communication channel The bilateral control of the teleoperator system considers the case were the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis was performed using Lyapunov-Krasovskii functional, it showed for the case with constant delay, that using a proposed control algorithm by state convergence resulted in asymptotically stable, local and remote the nonlinear teleoperation system.
AB - In this work, we proposes a control strategy that allows the remote manipulator follow the local manipulator through the state convergence even if it has a delay in the communication channel The bilateral control of the teleoperator system considers the case were the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis was performed using Lyapunov-Krasovskii functional, it showed for the case with constant delay, that using a proposed control algorithm by state convergence resulted in asymptotically stable, local and remote the nonlinear teleoperation system.
UR - http://www.scopus.com/inward/record.url?scp=84858969238&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2011.6137947
DO - 10.1109/ICCA.2011.6137947
M3 - Conference contribution
AN - SCOPUS:84858969238
SN - 9781457714757
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 489
EP - 494
BT - 2011 9th IEEE International Conference on Control and Automation, ICCA 2011
T2 - 9th IEEE International Conference on Control and Automation, ICCA 2011
Y2 - 19 December 2011 through 21 December 2011
ER -