Paper Info
Title
Bilateral adaptative control by state of convergence in teleoperation systems
Abstract
This paper presents the design and application of an adaptative control method for a bilateral system of teleoperation. The scheme and control of algorithm have been formulated in the state space following a control technique of the master and the slave state convergence. Based on the mentioned control scheme, gains on the control loop in order to obtain a stable bilateral system with the desired force reflection have been adjusted through an adaptative method. The validation of the method for the designed control has been done through a master-slave experimental system of 1 degree of freedom.
Year
DOI
Venue
2009
10.1109/CCA.2009.5281146
CCA) & Intelligent Control,
Keywords
Field
DocType
adaptive control,control system synthesis,convergence,stability,state-space methods,telerobotics,master-slave system,stable bilateral adaptative control design,state space method,teleoperation system convergence
Teleoperation,Convergence (routing),Experimental system,Computer science,Control theory,Control engineering,Control system,Adaptive control,Master/slave,Telerobotics,State space
Conference
ISSN
ISBN
Citations 
1085-1992
978-1-4244-4602-5
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Maria Auxiliadora Artigas Barrios100.34
Rafael Aracil213523.73
Manuel Ferre327049.78
Cecilia E. Garcia Cena482.53
Artigas, M.A.500.34
Garcia, C.600.34