2 research outputs found
Position tracking using adaptive control for bilateral teleoperators with time-delays
This paper presents two versions of adaptive
controllers for nonlinear bilateral teleoperators, each providing asymptotic convergence of velocity and position errors to zero, independent of constant time-delays. Moreover, the proposed schemes do not rely on the use of the scattering transformation. The paper also proves that the teleoperator is Input-to-State
Stable from human operator and environment inputs to some synchronization signals. Simulations show the effectiveness of
the proposed controllers.Postprint (published version
Position tracking using adaptive control for bilateral teleoperators with time-delays
This paper presents two versions of adaptive
controllers for nonlinear bilateral teleoperators, each providing asymptotic convergence of velocity and position errors to zero, independent of constant time-delays. Moreover, the proposed schemes do not rely on the use of the scattering transformation. The paper also proves that the teleoperator is Input-to-State
Stable from human operator and environment inputs to some synchronization signals. Simulations show the effectiveness of
the proposed controllers