Stabilization of Asymmetric Bilateral Teleoperation Systems with Time-Varying Delays
A novel control scheme for asymmetric bilateral teleoperation systems is developed based on linear models of the hardware, with two scenarios considered: i) only an upper bound on the time delay and ii) an upper and lower bounds on the time delay. Lyapunov based methods are used with linear matrix i...
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| Language: | en_US |
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2012
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| Online Access: | http://hdl.handle.net/10222/15312 |