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In this paper, stabilization of a nonlinear bilateral teleoperation system with time delays and actuator saturation is investigated via active disturbance rejection control (ADRC). An linear extended state observer is… Click to show full abstract
In this paper, stabilization of a nonlinear bilateral teleoperation system with time delays and actuator saturation is investigated via active disturbance rejection control (ADRC). An linear extended state observer is introduced to deal with the lumped system uncertainties. Lyapunov functions are given to prove the stabilization of the closedâloop bilateral teleoperation system. Two Phantom Premium 1.5 HighForce (HF) robot manipulators are used in experiments to demonstrate the effectiveness of the proposed method in this paper.
Journal Title: Asian Journal of Control
Year Published: 2019
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