Title :
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
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;
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
DOI :
10.1109/CCA.2009.5281146
