Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System

Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System

In this paper, a new robust adaptive nonlinear teleoperation system using an improved extended active observer (IEAOB), adaptive Smith predictor (ASP) and sliding mode control is developed to address the time delay in the communication channels and the nonlinear robot model uncertainties. Firstly, a...

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Bibliographic Details
Main Authors: Linping Chan, Yang Liu, Qingqing Huang, Ping Wang
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Delay compensation
disturbance suppression
adaptive Smith predictor
sliding mode control
improved extended active observer
Online Access:https://ieeexplore.ieee.org/document/9774359/

Internet

https://ieeexplore.ieee.org/document/9774359/

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