A model based nonlinear adaptive controller for the passive bilateral telerobotic system

Authors : Ufuk ÖZBAY, Erkan ZERGEROĞLU, İlyas KANDEMİR

Pages : 781-798

View : 10 | Download : 8

Publication Date : 0000-00-00

Article Type : Research Paper

Abstract :IIn this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems. The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.
Keywords : Model based control, nonlinear systems, passive systems, robotics, tele operation, lyapunov based approaches