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This paper presents two versions of adaptive
controllers for nonlinear bilateral teleoperators, each providing asymptotic convergence of velocity and position errors to zero, independent of constant time-delays. Moreover, the proposed schemes do not rely on the use of the scattering transformation. The paper also proves that the teleoperator is Input-to-State
Stable from human operator and environment inputs to some synchronization signals. Simulations show the effectiveness of
the proposed controllers.
CitationNuño, E. [et al.]. Position tracking using adaptive control for bilateral teleoperators with time-delays. A: IEEE International Conference on Robotics and Automation. "2010 IEEE International Conference on Robotics and Automation". Anchorage: 2010, p. 5370-5375.
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