Controlled Synchronization of Nonlinear Teleoperation in Task-space with Time-varying Delays

被引：0
作者：
Amir Zakerimanesh
Farzad Hashemzadeh
Ali Torabi
Mahdi Tavakoli
机构：
[1] University of Tabriz,Faculty of Electrical and Computer Engineering
[2] University of Alberta,Department of Electrical and Computer Engineering
来源：
International Journal of Control, Automation and Systems | 2019年 / 17卷
关键词：
Asymptotic stability; redundant robot; semi-autonomous system; synchronization; time-varying delay;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper introduces a novel control framework for bilateral teleoperation system with the redundant remote robot to ensure the end-effectors’ position tracking while satisfying a sub-task control such as obstacle avoidance in the presence of the nonlinear dynamics for the manipulators and bounded time-varying delays in the communication channels. The asymptotic stability of the closed-loop dynamics is studied using a Lyapunov-Krasovskii functional under conditions on the controller parameters and the maximum values of time-varying delays. Simulation and experimental results are provided to validate the theoretical findings.
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页码：1875 / 1883
页数：8
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