Control of a nonlinear teleoperation system by state convergence

Julio C. Tafur, Cecilia García, Rafael Aracil, Roque Saltaren

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

9 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2011 9th IEEE International Conference on Control and Automation, ICCA 2011
Páginas489-494
Número de páginas6
DOI
EstadoPublicada - 2011
Publicado de forma externa
Evento9th IEEE International Conference on Control and Automation, ICCA 2011 - Santiago, Chile
Duración: 19 dic. 201121 dic. 2011

Serie de la publicación

NombreIEEE International Conference on Control and Automation, ICCA
ISSN (versión impresa)1948-3449
ISSN (versión digital)1948-3457

Conferencia

Conferencia9th IEEE International Conference on Control and Automation, ICCA 2011
País/TerritorioChile
CiudadSantiago
Período19/12/1121/12/11

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