ADAPTIVE CONTROL OF NON-LINEAR TELEOPERATOR SYSTEMS IN THE PRESENCE OF ADDITIVE INPUT AND OUTPUT DISTURBANCES
Makaleler > Tam Makale · 2010
Yazarlar: Enver TATLICIOĞLU
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, SCI Expanded İndekslerine Giren Dergi, Uluslararası, 2010, cilt 25, ss 17-25
DOI: 10.2316/journal.206.2010.1.206-3244
Özet
In this paper, a robust adaptive controller is developed for nonlinear teleoperator systems. The controller is proven to yield semi-global asymptotic tracking in the presence of additive disturbances and parametric uncertainty. Robust integral of the sign of the error terms are utilized in the design of the controller and Lyapunov-based techniques are used to guarantee that the coordination between the master and the slave systems is ensured and the tracking error is asymptotically driven to zero.