Exploració per autor "Sarras, Ioannis"

Ara es mostren els items 1-10 de 10

    • A proportional plus damping injection controller for teleoperators with joint fexibility and time–delays 

      Nuño Ortega, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis; Kinnaert, Michel (IEEE, 2012)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      The problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a bilateral teleoperation scenario is ...

    • An adaptive controller for nonlinear teleoperators with variable time-delays 

      Sarras, Ioannis; Nuño, Emmanuel; Basañez Villaluenga, Luis (2014-10-01)
      Article
      Accés restringit per política de l'editorial
      In most real-life bilateral teleoperators the available physical parameters are uncertain and the communications exhibit variable time-delays. In order to confront these situations and only assuming that a bound of the ...

    • Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays 

      Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Abstract—It is widely known that the problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a ...

    • Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers 

      Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis (2013-12)
      Article
      Accés restringit per política de l'editorial
      This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can ...

    • Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays 

      Nuño Ortega, Emmanuel; Sarras, Ioannis; Panteley, Elena; Basañez Villaluenga, Luis (2012)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      The present work reports a sufficient condition for the consensus of a network of nonidentical Euler-Lagrange (EL) systems with variable time-delays in the communications. The EL-systems are controlled by simple Proportional ...

    • Control of teleoperators with joint flexibility, uncertain parameters and time-delays 

      Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis; Kinnaert, Michel (2014)
      Article
      Accés restringit per política de l'editorial
      The problem of controlling a rigid bilateral teleoperator has been the subject of study since the late 1980s and several control approaches have been reported to deal with time-delays, position tracking and transparency. ...

    • Leader-follower and leaderless consensus in networks of flexible-joint manipulators 

      Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
      Text en actes de congrés
      Accés restringit per política de l'editorial

    • Leader-follower and leaderless consensus in networks of flexible-joint manipulators 

      Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2014-09-01)
      Article
      Accés restringit per política de l'editorial
      This work presents some first results on the consensus for networks of nonlinear under-actuated mechanical systems without assuming that the gravity effects are negligible or locally pre-compensated. In particular, the ...

    • Output-feedback control of nonlinear bilateral teleoperators 

      Sarras, Ioannis; Nuño, Emmanuel; Kinnaert, Michel; Basañez Villaluenga, Luis (Institute of Electrical and Electronics Engineers (IEEE), 2012)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      The output-feedback design problem for a bilateral teleoperator scheme is considered. The recently proposed Immersion and Invariance (I&I) observer is used to obtain an exponentially convergent estimate of the unmeasured ...

    • Position tracking in delayed bilateral teleoperators without velocity measurements 

      Sarras, Ioannis; Nuño, Emmanuel; Basañez Villaluenga, Luis; Kinnaert, Michel (2016-05-10)
      Article
      Accés obert
      This work considers the control of nonlinear bilateral teleoperators with variable time delays without the need of velocity measurements. The recently proposed Immersion and Invariance observer is used to obtain an ...