Passivity-based control for bilateral teleoperation: A tutorial
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hdl:2117/13433
Document typeArticle
Defense date2011-03
Rights accessRestricted access - publisher's policy
Abstract
This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators
with guaranteed stability properties. These schemes, which include scattering–based, damping
injection and adaptive controllers, ensure asymptotic stability in multiple situations that range from constant
to variable time-delays, with or without scattering transformation and with or without position
tracking capabilities. Although all controllers exploit the basic property of passivity of the teleoperators,
they have been developed invoking various analysis and design tools, which complicates their comparison
and relative performance assessment. The objective of this paper is to present a unified theoretical
framework—based on a general Lyapunov–like function—that, upon slight modification, allows to analyze
the stability of all the schemes.
CitationNuño, E.; Basañez, L.; Ortega, R. Passivity-based control for bilateral teleoperation: A tutorial. "Automatica", Març 2011, vol. 47, núm. 3, p. 485-495.
ISSN0005-1098
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