Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12104/67119
Title: Position tracking using adaptive control for bilateral teleoperators with time-delays
Author: Nuno, E.
Basanez, L.
Ortega, R.
Obregon-Pulido, G.
Issue Date: 2010
Abstract: 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. ©2010 IEEE.
URI: http://hdl.handle.net/20.500.12104/67119
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