کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
4974811 | 1365550 | 2014 | 21 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
An adaptive controller for nonlinear teleoperators with variable time-delays
ترجمه فارسی عنوان
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
پردازش سیگنال
چکیده انگلیسی
In most real-life bilateral teleoperators the available physical parameters are uncertain and the communications exhibit variable time-delays. In order to confront these situations and only assuming that a bound of the time-delays is known, the present work reports an adaptive controller which ensures asymptotic convergence of both position errors and velocities to zero, provided that a sufficient condition on the control gains is met. Compared to previous related works that only treated constant time-delays, the stability analysis does not rely on the cascade interconnection structure of the local and remote nonlinear dynamics and the linear interconnection map. Instead, the paper employs a different Lyapunov candidate function that incorporates a strictly positive term, the local and remote position error. Some simulations, in free space and interacting with a rigid wall, and experiments, using two nonlinear manipulators, illustrate the performance of the proposed control scheme in the presence of uncertain parameters and variable time-delays.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of the Franklin Institute - Volume 351, Issue 10, October 2014, Pages 4817-4837
Journal: Journal of the Franklin Institute - Volume 351, Issue 10, October 2014, Pages 4817-4837
نویسندگان
Ioannis Sarras, Emmanuel Nuño, Luis Basañez,