Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays
Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays
- New search for: Sun, Da
- New search for: Naghdy, Fazel
- New search for: Du, Haiping
- New search for: Sun, Da
- New search for: Naghdy, Fazel
- New search for: Du, Haiping
A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays. The system stability in different scenarios of human and environment situations has been analyzed. The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators. The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.
Document information
Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays
2016-01-01
Scopus 2-s2.0-84948783710
Article (Journal)
Electronic Resource
English
| DDC: | 629 |
Similar titles
Stable Bilateral Teleoperation Control Method for Biped Robots with Time-Varying Delays
| TIBKAT | 2023
Output Feedback Control Under Randomly Varying Distributed Delays
| Online Contents | 1994