Title of article :
A model based nonlinear adaptive controller for the passive bilateral telerobotic system
Author/Authors :
OZBAY, Ufuk Gebze Institute of Technology - Department of Computer Engineering, TURKEY , ZERGEROGLU, Erkan Gebze Institute of Technology - Department of Computer Engineering, TURKEY , KANDEMIR, Ilyas Gebze Institute of Technology - Department of Computer Engineering, TURKEY
Abstract :
In this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems. The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller
Keywords :
Model based control , nonlinear systems , passive systems , robotics , tele , operation , lyapunov based approaches
Journal title :
Turkish Journal of Electrical Engineering and Computer Sciences
Journal title :
Turkish Journal of Electrical Engineering and Computer Sciences
