Bilateral adaptative control by state of convergence in teleoperation systems

Author

Artigas, Maria A. ; Aracil, Rafael ; Ferre, Manuel ; Garcia, Cecilia

Author_Institution

Escuela de Ing. Electr., Univ. del Zulia, Maracaibo, Venezuela

fYear

2009

Firstpage

548

Lastpage

553

Abstract

This paper presents the design and application of an adaptative control method for a bilateral system of teleoperation. The scheme and control of algorithm have been formulated in the state space following a control technique of the master and the slave state convergence. Based on the mentioned control scheme, gains on the control loop in order to obtain a stable bilateral system with the desired force reflection have been adjusted through an adaptative method. The validation of the method for the designed control has been done through a master-slave experimental system of 1 degree of freedom.

Keywords

adaptive control; control system synthesis; convergence; stability; state-space methods; telerobotics; master-slave system; stable bilateral adaptative control design; state space method; teleoperation system convergence; Communication system control; Control systems; Convergence; Delay effects; Force control; Master-slave; Regulators; Stability; Uncertainty; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE

Conference_Location

Saint Petersburg

Print_ISBN

978-1-4244-4601-8

Electronic_ISBN

978-1-4244-4602-5

Type

conf

DOI

10.1109/CCA.2009.5281146

Filename

5281146