Advances in Control of Teleoperation System by State Convergence

Tafur Sotelo, Julio César and García, Cecilia and Aracil Santonja, Rafael and Saltaren Pazmiño, Roque Jacinto (2012). Advances in Control of Teleoperation System by State Convergence. In: "16th World Multi-Conference on Systemics, Cybernetics and Informatics: WMSCI 2012", 17/07/2012 - 20/07/2012, Orlando, Florida - USA. ISBN 978-1-936338-69-6 (Volume I). pp. 136-141.

Description

Title: Advances in Control of 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: 16th World Multi-Conference on Systemics, Cybernetics and Informatics: WMSCI 2012
Event Dates: 17/07/2012 - 20/07/2012
Event Location: Orlando, Florida - USA
Title of Book: Proceedings of The 16th World Multi-Conference on Systemics, Cybernetics and Informatics: WMSCI 2012
Date: 2012
ISBN: 978-1-936338-69-6 (Volume I)
Volume: I
Subjects:
Freetext Keywords: nonlinear; teleoperation; state convergence; Lyapunov-Krasovskii; timedelay; stability
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 proposes a control strategy by state convergence applied to bilateral control of a nonlinear teleoperator system with constant delay. 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 Lyapunov-Krasovskii functional, it showed that using an 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. This work also presents the implementation of an experimental platform. The mechanical structure of the arm that is located in the remote side has been built and the electric servomechanism has been mounted to control their movement.

More information

Item ID: 34981
DC Identifier: http://oa.upm.es/34981/
OAI Identifier: oai:oa.upm.es:34981
Official URL: http://www.iiis.org/CDs2012/CD2012sci/SCI_2012/index.asp?id=0&area=5
Deposited by: Memoria Investigacion
Deposited on: 02 Mar 2016 11:27
Last Modified: 02 Mar 2016 11:47
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