Browsing by Author "Kinnaert, Michel"

Now showing items 1-4 of 4

    • 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)
      Conference lecture
      Restricted access - publisher's policy
      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 ...

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

      Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis; Kinnaert, Michel (2014)
      Article
      Restricted access - publisher's policy
      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. ...

    • Output-feedback control of nonlinear bilateral teleoperators 

      Sarras, Ioannis; Nuño, Emmanuel; Kinnaert, Michel; Basañez Villaluenga, Luis (Institute of Electrical and Electronics Engineers (IEEE), 2012)
      Conference report
      Restricted access - publisher's policy
      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
      Open Access
      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 ...