Real-time bilateral control of a nonlinear teleoperation system

Tafur Sotelo, Julio César and García, Cecilia and Aracil Santonja, Rafael and Saltaren Pazmiño, Roque Jacinto (2011). Real-time bilateral control of a nonlinear teleoperation system. In: "12th International Workshop on Research and Education in Mechatronics", 15/09/2011 - 16/09/2011, Kocaeli, Turkey. ISBN 978-975-8047-96-3. pp. 1-7.

Description

Title: Real-time bilateral control of a nonlinear teleoperation system
Author/s:
  • Tafur Sotelo, Julio César
  • García, Cecilia
  • Aracil Santonja, Rafael
  • Saltaren Pazmiño, Roque Jacinto
Item Type: Presentation at Congress or Conference (Article)
Event Title: 12th International Workshop on Research and Education in Mechatronics
Event Dates: 15/09/2011 - 16/09/2011
Event Location: Kocaeli, Turkey
Title of Book: 12th International Workshop on Research and Education in Mechatronics
Date: 2011
ISBN: 978-975-8047-96-3
Subjects:
Freetext Keywords: Teleoperation, State Convergence, Stability, Lyapunov-Krasovskii, Time Delay
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this work, we study the bilateral control of a nonlinear teleoperator system with constant delay, proposes a control strategy by state convergence, which directly connect the local and remote manipulator through feedback signals of position and speed. The control signal allows the remote manipulator follow the local manipulator through the state convergence even if it has a delay in the communication channel. The bilateral control of the teleoperator system considers the case when the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis is performed using functional of Lyapunov-Krasovskii, it showed that using a control algorithm by state convergence for the case with constant delay, the nonlinear local and remote teleoperation system is asymptotically stable, also speeds converge to zero and position tracking is achieved.

More information

Item ID: 34979
DC Identifier: http://oa.upm.es/34979/
OAI Identifier: oai:oa.upm.es:34979
Official URL: http://rem2011.kocaeli.edu.tr/index.php
Deposited by: Memoria Investigacion
Deposited on: 29 Feb 2016 15:11
Last Modified: 05 Apr 2016 10:18
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