Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12104/63181
Title: An adaptive controller for nonlinear teleoperators with variable time-delays
Author: Sarras, I.
Nuno, E.
Basanez, L.
Issue Date: 2014
Abstract: In most real-life bilateral teleoperators the available physical parameters are uncertain and the communications exhibit variable time-delays. In order to confront these situations and only assuming that a bound of the time-delays is known, the present work reports an adaptive controller which ensures asymptotic convergence of both position errors and velocities to zero, provided that a sufficient condition on the control gains is met. Compared to previous related works that only treated constant time-delays, the stability analysis does not rely on the cascade interconnection structure of the local and remote nonlinear dynamics and the linear interconnection map. Instead, the paper employs a different Lyapunov candidate function that incorporates a strictly positive term, the local and remote position error. Some simulations, in free space and interacting with a rigid wall, and experiments, using two nonlinear manipulators, illustrate the performance of the proposed control scheme in the presence of uncertain parameters and variable time-delays. © 2014 The Franklin Institute.
URI: http://hdl.handle.net/20.500.12104/63181
Appears in Collections:Producción científica UdeG (prueba)

Files in This Item:
There are no files associated with this item.


Items in RIUdeG are protected by copyright, with all rights reserved, unless otherwise indicated.