Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays
Joint Authors
Sun, Da
Naghdy, Fazel
Du, Haiping
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-11-16
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Sun, Da& Naghdy, Fazel& Du, Haiping. 2015. Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays. Journal of Sensors،Vol. 2016, no. 2016, pp.1-17.
https://search.emarefa.net/detail/BIM-1110468
Modern Language Association (MLA)
Sun, Da…[et al.]. Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays. Journal of Sensors No. 2016 (2016), pp.1-17.
https://search.emarefa.net/detail/BIM-1110468
American Medical Association (AMA)
Sun, Da& Naghdy, Fazel& Du, Haiping. Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays. Journal of Sensors. 2015. Vol. 2016, no. 2016, pp.1-17.
https://search.emarefa.net/detail/BIM-1110468
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110468