IEEE - Institute of Electrical and Electronics Engineers, Inc. - Stability analysis of teleoperation system by state convergence with variable time delay

2013 American Control Conference (ACC)

Author(s): Julio C. Tafur ; Cecilia Garcia ; Rafael Aracil ; Roque Saltaren
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2013
Conference Location: Washington, DC, USA
Conference Date: 17 June 2013
Page(s): 5,696 - 5,701
ISBN (CD): 978-1-4799-0175-3
ISBN (Electronic): 978-1-4799-0178-4
ISBN (Paper): 978-1-4799-0177-7
ISSN (Electronic): 2378-5861
ISSN (Paper): 0743-1619
DOI: 10.1109/ACC.2013.6580730
Regular:

We propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. A major contribution from this work lies... View More

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