Observer-based Higher-Order Sliding Mode Impedance Control of Bilateral Teleoperation under Constant Unknown Time Delay.
Luis Govinda García-ValdovinosVicente Parra-VegaMarco A. ArteagaPublished in: IROS (2006)
Keyphrases
- sliding mode
- impedance control
- force control
- robot manipulators
- control strategy
- control scheme
- stability analysis
- variable structure
- sliding mode control
- end effector
- position control
- control law
- optimal control
- control architecture
- robotic manipulator
- closed loop
- manipulation tasks
- dynamic model
- control method
- master slave
- force feedback
- artificial neural networks
- robotic arm
- chaotic systems
- adaptive control
- model free
- feedback control
- control system
- real time