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The estimation of unknown inputs and/or disturbances has been a topic of constant interest in control engineering for the past several decades; see [1] for a detailed survey on the development of unknown input observers. Disturbance observers (DOBs) are a special class of unknown input observers that were introduced for robust motion-control applications in the early 1980s [2]. Since their introduction...
Instability and poor performance are two wellknown problems encountered in bilateral teleoperation over a communication channel with variable time delays, where force feedback from the slave side is provided to the master side. When unknown disturbances or external forces act on the master and/or the slave manipulators, the teleoperation system will be even more prone to stability and performance...
Teleoperation systems, consisting of a pair of master and slave robots are subject to different types of disturbances such as joint frictions, varying contact points, unmodeled dynamics and unknown payloads. Such disturbances, when unaccounted for, cause poor teleoperation transparency and even instability. This paper presents a novel nonlinear bilateral control scheme, based on the concept of disturbance...
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