Ufuk ÖZBAY, Erkan ZERGEROĞLU, İlyas KANDEMİR

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

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.

Anahtar Kelimeler:

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

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

Keywords:

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

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