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
PY - 2020/5/1
Y1 - 2020/5/1
N2 - © 2020 Elsevier Ltd 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 - © 2020 Elsevier Ltd 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.
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U2 - 10.1016/j.conengprac.2020.104362
DO - 10.1016/j.conengprac.2020.104362
M3 - Article
JO - Control Engineering Practice
JF - Control Engineering Practice
SN - 0967-0661
ER -