Original paper

Position and force tracking in nonlinear teleoperation systems with sandwich linearity in actuators and time-varying delay

Volume: 86, Pages: 308 - 324
Published: Mar 1, 2017
Abstract
In this paper, a new bounded force feedback control law is proposed to guarantee position and force tracking in nonlinear teleoperation systems in the presence of passive and nonpassive input interaction forces, time varying delay in their communication channels and sandwich linearity in their actuators. The proposed control is a nonlinear-proportional plus nonlinear damping (nP+nD) controller with the addition of a nonlinear function of the...
Paper Details
Title
Position and force tracking in nonlinear teleoperation systems with sandwich linearity in actuators and time-varying delay
Published Date
Mar 1, 2017
Volume
86
Pages
308 - 324
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