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https://doi.org/10.1155/2016/4316024
Title: | Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays | Authors: | Sun, D Naghdy, F Du, H |
Keywords: | Algorithms Control system stability Remote control System stability Time delay High transparency Position synchronization Robust stability Stability control System's stabilities Teleoperation systems Time varying- delays Wave variable controllers Time varying control systems |
Issue Date: | 2016 | Citation: | Sun, D, Naghdy, F, Du, H (2016). Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays. Journal of Sensors 2016 : 4316024. ScholarBank@NUS Repository. https://doi.org/10.1155/2016/4316024 | Rights: | Attribution 4.0 International | Abstract: | 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. | Source Title: | Journal of Sensors | URI: | https://scholarbank.nus.edu.sg/handle/10635/180867 | ISSN: | 1687725X | DOI: | 10.1155/2016/4316024 | Rights: | Attribution 4.0 International |
Appears in Collections: | Elements Staff Publications |
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