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• W2152506961 abstract "Sliding mode control has been used extensively in robotics to cope with parametric uncertainty and hard nonlinearities, in particular for time-delay teleoperators, which have gained gradual acceptance due to technological advancements. However, since the slave teleoperator is in contact to a rigid environment, the slave controller requires a free of chattering control strategy, thus making first order sliding mode teleoperation control un-suitable. As an alternative, chattering free, higher-order sliding mode teleoperator control is proposed in this paper to guarantee robust tracking under unknown constant time delay. Moreover, complete order observers are proposed to avoid measurement of velocity and acceleration, along with a formal closed-loop stability proof of the observer-based controller. Experimental results are presented and discussed, which reveals the effectiveness of the proposed teleoperation scheme." @default.
• W2152506961 created "2016-06-24" @default.
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• W2152506961 date "2006-10-01" @default.
• W2152506961 modified "2023-10-14" @default.
• W2152506961 title "Observer-based Higher-Order Sliding Mode Impedance Control of Bilateral Teleoperation under Constant Unknown Time Delay" @default.
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• W2152506961 doi "https://doi.org/10.1109/iros.2006.282126" @default.
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