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Published in 2021 at "Measurement"
DOI: 10.1016/j.measurement.2021.109542
Abstract: Abstract Due to the practical restrictions such as uncertain dynamics, external disturbances and time-varying delays and lack of enough information about the remote environment, the performance of teleoperation systems cannot be guaranteed in most cases.…
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Keywords:
control;
nonlinear bilateral;
teleoperation;
time varying ... See more keywords
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Published in 2019 at "IEEE/CAA Journal of Automatica Sinica"
DOI: 10.1109/jas.2018.7511273
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 systemsʼ nominal nonlinear…
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Keywords:
bilateral control;
teleoperation systems;
composite nonlinear;
nonlinear bilateral ... See more keywords
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Published in 2018 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/0142331216688751
Abstract: This paper establishes a novel control strategy for a nonlinear bilateral teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the…
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Keywords:
force estimation;
control;
estimation algorithm;
teleoperation ... See more keywords