An enhanced state convergence architecture incorporating disturbance observer for bilateral teleoperation systems
To bilaterally control an n th-order teleoperation system modeled on state space, state convergence methodology provides an elegant way to design control gains through a solution of 3 n + 1 equations. These design conditions are obtained by allowing the master–slave error to evolve as an autonomous...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-10-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419880052 |