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An adaptive controller for nonlinear teleoperators with variable time-delays
dc.contributor.author | Sarras, Ioannis |
dc.contributor.author | Nuño, Emmanuel |
dc.contributor.author | Basañez Villaluenga, Luis |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2014-11-13T10:25:29Z |
dc.date.created | 2014-10-01 |
dc.date.issued | 2014-10-01 |
dc.identifier.citation | Sarras, I.; Nuño, E.; Basañez, L. An adaptive controller for nonlinear teleoperators with variable time-delays. "Journal of the Franklin Institute", 01 Octubre 2014, vol. 351, núm. 10, p. 4817-4837. |
dc.identifier.issn | 0016-0032 |
dc.identifier.uri | http://hdl.handle.net/2117/24712 |
dc.description.abstract | 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 time-delays is known, the present work reports an adaptive controller which ensures asymptotic convergence of both position errors and velocities to zero, provided that a sufficient condition on the control gains is met. Compared to previous related works that only treated constant time-delays, the stability analysis does not rely on the cascade interconnection structure of the local and remote nonlinear dynamics and the linear interconnection map. Instead, the paper employs a different Lyapunov candidate function that incorporates a strictly positive term, the local and remote position error. Some simulations, in free space and interacting with a rigid wall, and experiments, using two nonlinear manipulators, illustrate the performance of the proposed control scheme in the presence of uncertain parameters and variable time-delays. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved. |
dc.format.extent | 21 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Mobile robots -- Automatic control |
dc.subject.other | BILATERAL TELEOPERATION |
dc.subject.other | SYNCHRONIZATION |
dc.subject.other | TRACKING |
dc.subject.other | SYSTEMS |
dc.title | An adaptive controller for nonlinear teleoperators with variable time-delays |
dc.type | Article |
dc.subject.lemac | Robots mòbils -- Control automàtic |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1016/j.jfranklin.2014.07.016 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 15283455 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Sarras, I.; Nuño, E.; Basañez, L. |
local.citation.publicationName | Journal of the Franklin Institute |
local.citation.volume | 351 |
local.citation.number | 10 |
local.citation.startingPage | 4817 |
local.citation.endingPage | 4837 |
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