Reaction force estimation and bilateral control of master slave manipulation using a robust controller.
Karam DadJie WangSaad Jamshed AbbasiMin Cheol LeePublished in: HSI (2017)
Keyphrases
- master slave
- contact force
- impedance control
- force control
- robotic arm
- control system
- robust estimation
- robust stability
- robotic manipulator
- manipulation tasks
- control method
- control strategy
- laparoscopic surgery
- wheeled mobile robot
- real time
- control theory
- control architecture
- fuzzy logic controller
- fuzzy controller
- optimal control
- strong robustness
- adaptive control
- estimation error
- robot manipulators
- control strategies
- pi controller
- disturbance rejection
- guaranteed cost
- control algorithm