Design and stability analysis of impedance controller for bilateral teleoperation under a time delay
✍ Scribed by Cho, Hyun Chul ;Park, Jong Hyeon
- Publisher
- Springer-Verlag
- Year
- 2004
- Tongue
- Korean
- Weight
- 569 KB
- Volume
- 18
- Category
- Article
- ISSN
- 1226-4865
No coin nor oath required. For personal study only.
📜 SIMILAR VOLUMES
Sliding mode control has been used extensively in robotics to cope with parametric uncertainty and hard nonlinearities, in particular for timedelay teleoperators, which have gained gradual acceptance due to technological advancements. However, since the slave teleoperator is in contact with a rigid
This study considers the problem of stabilizing a rigid robot with an output-based controller and time-delayed input functions applied to the robot joints. We establish su cient conditions for asymptotic stability of the system under consideration. These conditions are based on well-deÿned relations
This paper discusses linear fractional representations (LFR) of parameter-dependent nonlinear systems with realrational nonlinearities and point-delayed dynamics. Sufficient conditions for robust global asymptotic stability independent of the delays and the existence of a robust stabilizing gain-sch
## Abstract In this paper, an improved linear matrix inequality (LMI)‐based robust delay‐dependent stability test is introduced to ensure a larger upper bound for time‐varying delays affecting the state vector of an uncertain continuous‐time system with norm‐bounded‐type uncertainties. A quasi‐full