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Skip to Search Results- 18Biomedical Engineering, Department of
- 16Biomedical Engineering, Department of/Journal Articles (Biomedical Engineering)
- 3Oncology, Department of
- 3Oncology, Department of/Medical Physics
- 3Medicine and Dentistry, Faculty of
- 3Medicine and Dentistry, Faculty of/Journal Articles (Medicine and Dentistry)
- 8MRI
- 4Time-Varying Delay
- 2Saturation Control
- 2Semi-Autonomous System
- 1Actuator Saturation
- 1Asymptotic Stability
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2022-11-04
Amir Zakerimanesh, Ali Torabi, Farzad Hashemzadeh, Mahdi Tavakoli
This note presents a novel approach for task-space tracking control of redundant manipulators with bounded actuation. Inspired by the leader-follower containment problem in multi-agent systems, the proposed controller is utilized to address the containment control of a single follower manipulator...
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Task-Space Synchronization of Nonlinear Teleoperation with Time-Varying Delays and Actuator Saturation
Download2022-11-04
Amir Zakerimanesh, Farzad Hashemzadeh, Mahdi Tavakoli
In a nonlinear teleoperation system controlled for task-space position tracking, while the time-varying delay in the communication channel has been addressed, the actuator saturation has not been taken into account yet. Considering that in practice, the actuator saturation is a serious...