Title :
Robust nonlinear control of bilateral teleoperators
Author :
Leung, Gary M H ; Francis, Bruce A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Toronto Univ., Ont., Canada
fDate :
29 June-1 July 1994
Abstract :
We have presented a practical implementation of nonlinear control for bilateral force-reflecting teleoperators which brings into consideration the issues of robustness to parameter uncertainty, external disturbances, sensor noises and computational complexity. The result may be used in order to determine whether the accuracy of the mathematical model used and the subsequent linear compensator design are sufficient to guarantee stability of the system.
Keywords :
computational complexity; man-machine systems; nonlinear control systems; robust control; telerobotics; bilateral force-reflecting teleoperators; computational complexity; external disturbances; linear compensator; mathematical model; nonlinear control; parameter uncertainty; robust control; robustness; sensor noises; stability; Control systems; Coordinate measuring machines; Force control; Force measurement; Manipulator dynamics; Master-slave; Nonlinear control systems; Nonlinear dynamical systems; Robust control; Teleoperators;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752450
