DocumentCode
2710532
Title
Positive realness and tracking of teleoperation systems
Author
Shi, Minyan ; Tao, Gang ; Graves, Sean ; Downs, J. Hunter
Author_Institution
Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA
Volume
3
fYear
1998
fDate
1998
Firstpage
2527
Abstract
A modified bilateral control scheme is proposed to ensure asymptotic position tracking in absence of time delay for non-contact tasks but arbitrary master trajectories. The positive realness of the modified bilateral teleoperation system is investigated, using a nonlinear transformer two-port to model the transmission of the master acceleration. The method of obtaining the master acceleration from the knowledge of master velocity is also discussed
Keywords
closed loop systems; position control; telerobotics; asymptotic position tracking; master acceleration; modified bilateral control scheme; noncontact tasks; nonlinear transformer two-port; positive realness; teleoperation systems; Acceleration; Circuits; Communication system control; Control systems; Delay effects; Equations; Force control; Master-slave; Teleoperators; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location
Tampa, FL
ISSN
0191-2216
Print_ISBN
0-7803-4394-8
Type
conf
DOI
10.1109/CDC.1998.757829
Filename
757829
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