Position tracking in delayed bilateral teleoperators without velocity measurements
نویسندگان
چکیده
منابع مشابه
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL Position tracking in delayed bilateral teleoperators without velocity measurements
This work considers the control of nonlinear bilateral teleoperators with variable time-delays without the need of velocity measurements. The recently proposed Immersion and Invariance (I&I) observer is used to obtain an exponentially convergent estimate of the unmeasured velocities. Under the classical assumption that the human operator and the environment define passive, velocity to force, ma...
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ژورنال
عنوان ژورنال: International Journal of Robust and Nonlinear Control
سال: 2015
ISSN: 1049-8923
DOI: 10.1002/rnc.3358