کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
712620 | 892154 | 2006 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
ROBUST BILATERAL TELEOPERATION CONTROL UNDER UNKNOWN CONSTANT TIME DELAY WITHOUT VELOCITY MEASUREMENTS
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
New technological advancements in the communication channel of time delay teleoperation systems have attracted lot of attention, which have produced recently new control schemes, under a variety of conditions, including unknown (either constant or time varying) time delay or parametric uncertainty. However, those require full access to the state of the master and slave robot. In this paper, a model free, exact differentiator, is used to estimate the full state under parametric uncertainty together with a chattering free, second order sliding mode controller to guarantee robust impedance tracking under constant, but unknown, time delay. Experimental results, that validate the predicted behavior, are presented and discussed.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 39, Issue 15, 2006, Pages 468–475
Journal: IFAC Proceedings Volumes - Volume 39, Issue 15, 2006, Pages 468–475
نویسندگان
L.G. Garcia-Valdovinos, V. Parra-Vega, Marco A. Arteaga,