DocumentCode
3289150
Title
An adaptive full-state feedback controller for bilateral telerobotic systems
Author
Ozbay, U. ; Zergeroglu, E. ; Okur, B.
Author_Institution
Dept. of Comput. Eng., Gebze Inst. of Technol., Kocaeli, Turkey
fYear
2010
fDate
June 30 2010-July 2 2010
Firstpage
6036
Lastpage
6041
Abstract
In this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation system. The proposed controller achieves asymptotic tracking despite the parametric uncertainties of both the master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.
Keywords
adaptive control; closed loop systems; state feedback; telerobotics; adaptive full-state feedback controller; asymptotic tracking; bilateral telerobotic systems; closed loop system; master robots; slave robots; teleoperation system; Adaptive control; Closed loop systems; Control systems; Master-slave; Programmable control; Robots; State feedback; Telerobotics; Tracking loops; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2010
Conference_Location
Baltimore, MD
ISSN
0743-1619
Print_ISBN
978-1-4244-7426-4
Type
conf
DOI
10.1109/ACC.2010.5531283
Filename
5531283
Link To Document