Conference
Adaptive/Robust Control for Enhanced Teleoperation under Communication Time Delay
Abstract
Control of time-delay bilateral teleoperation systems requires a delicate balance between the conflicting requirements of transparency and robust stability. This manuscript proposes a systematic design procedure for improving teleoperation fidelity while maintaining its stability in the presence of constant communication delay and dynamic uncertainty. In a two-step control approach, first local Lyapunov-based adaptive/nonlinear controllers …
Authors
Shahdi A; Sirouspour S
Pagination
pp. 2667-2672
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
October 1, 2007
DOI
10.1109/iros.2007.4399455
Name of conference
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems