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Bilateral adaptative control by state of convergence in teleoperation systems

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4 Author(s)
Artigas, M.A. ; Escuela de Ing. Electr., Univ. del Zulia, Maracaibo, Venezuela ; Aracil, R. ; Ferre, M. ; Garcia, C.

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.

Published in:

Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE

Date of Conference:

8-10 July 2009