Robust passivity-based nonlinear controller design for bilateral teleoperation system under variable time delay and variable load disturbance
This research focuses on implementing a robust passivity-based nonlinear control method for bilateral/teleoperation systems. The key challenge is addressing communication pathways between the master and slave, control delays, and load disturbances, which can lead to instability and reduced transpare...
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| Format: | Article |
| Language: | English |
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De Gruyter
2024-01-01
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| Series: | Nonlinear Engineering |
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| Online Access: | https://doi.org/10.1515/nleng-2022-0358 |