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Skip to Search Results- 3Time-Varying Delay
- 2Saturation Control
- 1Actuator Saturation
- 1Bilateral Teleoperation
- 1Bounded Input
- 1Containment Control
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A cooperative paradigm for task-space control of multilateral nonlinear teleoperation with bounded inputs and time-varying delays
Download2022-11-03
Amir Zakerimanesh, Farzad Hashemzadeh, Ali Torabi, Mahdi Tavakoli
In this article, a novel multilateral teleoperation structure is presented for cooperative control of a redundant remote robot in the task-space. In the structure, each local robot is assigned a real number between zero and one, as its dominance factor. The sum of all the assigned factors is...
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Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems with Synchronization Enhancement
Download2022-11-03
Amir Zakerimanesh, Mojtaba Sharifi, Farzad Hashemzadeh, Mahdi Tavakoli
This paper puts forward a novel controller for joint position tracking of bilateral teleoperation systems subjected simultaneously to time-varying communication delays and bounded actuation. Enhancing such systems’ robustness to the larger time delays comes prevalently at the cost of increased...
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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...