Bilateral Adaptative Control by State of Convergence in Teleoperation Systems

被引：7
|
作者：
Artigas, Maria A. [1 ]
Aracil, Rafael [2 ]
Ferre, Manuel [2 ]
Garcia, Cecilia [2 ]
机构：
[1] Univ Zulia, Escuela Ingn Elect, Maracaibo 4001, Venezuela
[2] Univ Politecn Madrid, DISAM, E-28006 Madrid, Spain
来源：
2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3 | 2009年
关键词：
D O I：
10.1109/CCA.2009.5281146
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：548 / +
页数：2
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