Adaptive Task-Space Synchronization Control of Bilateral Teleoperation Systems With Uncertain Parameters and Communication Delays

Adaptive Task-Space Synchronization Control of Bilateral Teleoperation Systems With Uncertain Parameters and Communication Delays

This paper proposes a novel adaptive control framework for nonlinear teleoperation systems with dynamic and kinematic uncertainties and time-varying time delays. Master-slave synchronization in the task space is achieved. Compared with the previous work, the developed method can simultaneously handl...

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Bibliographic Details
Main Authors: Yuling Li, Yixin Yin, Dezheng Zhang
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Adaptive control
delay systems
teleoperators
Online Access:https://ieeexplore.ieee.org/document/8247189/

Internet

https://ieeexplore.ieee.org/document/8247189/

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