| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 5005065 | ISA Transactions | 2012 | 7 Pages |
Abstract
⺠The passivity based architecture of [Lee DJ, Spong MW. Passive bilateral teleoperation with constant time-delay. IEEE Trans Rob 2006] is extended to improve position tracking. ⺠The proposed PID controller can overcome some limitations of the PD controller. ⺠We have shown that the new controller preserved the passivity of the whole system. ⺠Simulation and experimental results show the effectiveness of the proposed controller.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
A. Forouzantabar, H.A. Talebi, A.K. Sedigh,