A model based nonlinear adaptive controller for the passive bilateral telerobotic system

Authors

UFUK ÖZBAY
ERKAN ZERGEROĞLU
İLYAS KANDEMİR

DOI

10.3906/elk-0906-11

Abstract

IIn this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems. The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.

Keywords

Model based control, nonlinear systems, passive systems, robotics, tele-operation, lyapunov based approaches

First Page

781

Last Page

798

Recommended Citation

ÖZBAY, UFUK; ZERGEROĞLU, ERKAN; and KANDEMİR, İLYAS (2010) "A model based nonlinear adaptive controller for the passive bilateral telerobotic system," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 18: No. 5, Article 6. https://doi.org/10.3906/elk-0906-11
Available at: https://journals.tubitak.gov.tr/elektrik/vol18/iss5/6