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Dergiler / Turkish Journal of Electrical Engineering and Computer Science / 2010 / Cilt: 18 - Sayı: 5

A model based nonlinear adaptive controller for the passive bilateral telerobotic system

Ufuk ÖZBAY
Erkan ZERGEROĞLU
İlyas KANDEMİR
Sayfa
781–798
Yayın Tarihi
2010-05-01
DOI
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⚡ TL;DR(1 Cümlede Hızlı Çıkarım)

Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.

📌 3 Maddede Bu Makale

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Amaç & Hipotez:IIn this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems.
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Temel Bulgular & Veri:The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system.
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Sonuç & Katkı:Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.
🔬Tür:Araştırma Makalesi
📍Kapsam:Genişletilmiş Akademik Örneklem
⚙️Değişkenler:Model based control · nonlinear systems · passive systems

Özet

IIn this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems. The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.

Abstract

IIn this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems. The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.

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Bu Makaleye Atıf Yap

ÖZBAY, U., ZERGEROĞLU, E., KANDEMİR, İ. (2010). A model based nonlinear adaptive controller for the passive bilateral telerobotic system. Turkish Journal of Electrical Engineering and Computer Science, Cilt: 18 - Sayı: 5, 781–798. https://ajindex.com/articles/189002

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Kaynakça (9)

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