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Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays
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نویسنده
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sun d. ,naghdy f. ,du h.
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منبع
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journal of sensors - 2016 - دوره : 2016 - شماره : 0
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چکیده
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A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system's stability in the presence of large time-varying delays. the system stability in different scenarios of human and environment situations has been analyzed. the proposed method is validated through experimental work based on the 3-dof trilateral teleoperation system consisting of three different manipulators. the experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays. © 2016 da sun et al.
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آدرس
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school of electrical,computer and telecommunications engineering,faculty of engineering and information sciences,university of wollongong,wollongong,nsw, Australia, school of electrical,computer and telecommunications engineering,faculty of engineering and information sciences,university of wollongong,wollongong,nsw, Australia, school of electrical,computer and telecommunications engineering,faculty of engineering and information sciences,university of wollongong,wollongong,nsw, Australia
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Authors
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