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- W2188968192 abstract "This paper deals with the problem of time-delay telecontrol of a class of underactuated mechanical systems (UMS) in a master-slave configuration. This problem has been solved by designing some discontinuous causal compensators which have proved by formal stability analysis to guarantee position coordi- nation of the mechanisms and to allow good force reflection to the master side, satisfying in this way classical control objectives in the telecontrol of systems. Moreover, the whole closed-loop system behaves stable and results robust to parametric uncertainties and external disturbances. The performance of the proposed control scheme is visualized through simulations. I. INTRODUCTION" @default.
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- W2188968192 date "2007-01-01" @default.
- W2188968192 modified "2023-09-27" @default.
- W2188968192 title "Bilateral telecontrol of underactuated mechanical systems over constant time-delay channels" @default.
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