TY - JOUR
T1 - Output based bilateral adaptive control of partially known robotic systems
AU - Castañeda, Luis Ángel
AU - Guzman-Vargas, Lev
AU - Chairez, Isaac
AU - Luviano-Juárez, Alberto
N1 - Publisher Copyright:
© 2020 Elsevier Ltd
PY - 2020/5
Y1 - 2020/5
N2 - This paper describes the design and implementation of a robust adaptive bilateral observer based control to solve the trajectory tracking problem for a class of master–slave robotic systems. The output-based bilateral control uses an adaptive observer to estimate the force and the unmeasurable velocity state considering only the master–slave system order as well as the position measurements. The stability of the observer and controller is simultaneously proved via the second method of Lyapunov. A set of experimental tests proved the performance of the presented algorithm for a manipulation task in a bilateral teleoperated system based on two delta robots.
AB - This paper describes the design and implementation of a robust adaptive bilateral observer based control to solve the trajectory tracking problem for a class of master–slave robotic systems. The output-based bilateral control uses an adaptive observer to estimate the force and the unmeasurable velocity state considering only the master–slave system order as well as the position measurements. The stability of the observer and controller is simultaneously proved via the second method of Lyapunov. A set of experimental tests proved the performance of the presented algorithm for a manipulation task in a bilateral teleoperated system based on two delta robots.
KW - Adaptive observers
KW - Bilateral control
KW - Controlled Lyapunov functions
KW - Delta robot
KW - Master–slave systems
UR - http://www.scopus.com/inward/record.url?scp=85082023172&partnerID=8YFLogxK
U2 - 10.1016/j.conengprac.2020.104362
DO - 10.1016/j.conengprac.2020.104362
M3 - Artículo
SN - 0967-0661
VL - 98
JO - Control Engineering Practice
JF - Control Engineering Practice
M1 - 104362
ER -