Name
Title | ||
|---|---|---|
Composite nonlinear bilateral control for teleoperation systems with external disturbances |
Abstract | ||
|---|---|---|
This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer ( NDOB ) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems ʼ nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic ( i.e., contact force tracking ) through a passive way, the newly proposed method has two major merits: ( 1 ) asymptotical convergence of both position and force tracking errors is guaranteed; ( 2 ) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/jas.2018.7511273 | IEEE/CAA Journal of Automatica Sinica |
Keywords | Field | DocType |
Force,Robot kinematics,Aerospace electronics,Nonlinear dynamical systems,Task analysis,Control systems | Teleoperation,Control theory,Nonlinear system,Control theory,Contact force,Control engineering,Control system,Observer (quantum physics),Mathematics,Tracking error,Feed forward | Journal |
Volume | Issue | ISSN |
6 | 5 | 2329-9266 |
Citations | PageRank | References |
1 | 0.35 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhenhua Zhao | 1 | 1 | 0.69 |
| Jun Yang | 2 | 588 | 39.42 |
| H. Li | 3 | 597 | 40.05 |
| wenhua | 4 | 337 | 34.19 |