Time Domain Passivity Controller for 4-Channel Time-Delay Bilateral Teleoperation.
João RebeloAndre SchielePublished in: IEEE Trans. Haptics (2015)
Keyphrases
- impedance control
- control architecture
- robotic manipulator
- networked control systems
- closed loop
- control system
- trajectory tracking
- sliding mode
- multi channel
- control law
- real time
- control scheme
- force control
- frequency domain
- tracking error
- controller design
- control algorithm
- contact force
- manipulation tasks
- control theory
- chaotic systems
- model free
- control strategy
- multi issue
- human operators
- autonomous agents
- end effector
- communication networks
- stability analysis
- nonlinear systems
- control loop
- robotic arm
- master slave
- variable structure
- pid controller
- vision system