Terminal sliding mode impedance control for bilateral teleoperation under unknown constant time delay and uncertainties.
Alaleh VafaeiMohammad Javad YazdanpanahPublished in: ECC (2013)
Keyphrases
- sliding mode
- external disturbances
- impedance control
- force control
- closed loop
- control law
- sliding mode control
- robot manipulators
- control scheme
- control strategy
- variable structure
- position control
- optimal control
- end effector
- robotic manipulator
- stability analysis
- control system
- control architecture
- nonlinear systems
- adaptive fuzzy
- adaptive control
- control theory
- feedback control
- control algorithm
- pid controller
- dynamical systems
- dynamic model
- force feedback
- mathematical model
- control method
- fuzzy control
- adaptive neural
- master slave
- control strategies
- visual servoing
- manipulation tasks
- inverse kinematics
- genetic algorithm