Control of a Nonlinear Teleoperation System by State Convergence

Tafur Sotelo, Julio César and García, Cecilia and Aracil Santonja, Rafael and Saltaren Pazmiño, Roque Jacinto (2011). Control of a Nonlinear Teleoperation System by State Convergence. In: "9th IEEE International Conference on Control and Automation (ICCA) 2011", 19/12/2011 - 21/12/2011, Santiago de Chile, Chile. ISBN 978-1-4577-1475-7. pp. 489-494.

Description

Title: Control of a Nonlinear Teleoperation System by State Convergence
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: 9th IEEE International Conference on Control and Automation (ICCA) 2011
Event Dates: 19/12/2011 - 21/12/2011
Event Location: Santiago de Chile, Chile
Title of Book: Control and Automation (ICCA), 2011 9th IEEE International Conference on
Date: 2011
ISBN: 978-1-4577-1475-7
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this work, we proposes a control strategy that 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 were 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 was performed using Lyapunov- Krasovskii functional, it showed for the case with constant delay, that using a proposed control algorithm by state convergence resulted in asymptotically stable, local and remote the nonlinear teleoperation system.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2009-08778UnspecifiedUnspecifiedUnspecified
Madrid Regional GovernmentP2009/DPI-1559ROBOCITY2030-IIUnspecifiedUnspecified

More information

Item ID: 34980
DC Identifier: http://oa.upm.es/34980/
OAI Identifier: oai:oa.upm.es:34980
Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6137947
Deposited by: Memoria Investigacion
Deposited on: 01 Mar 2016 12:39
Last Modified: 18 May 2016 11:10
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