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This paper presents a bilateral control method of teleoperation for the underwater's complex and dangerous environment. The fuzzy adaptive impedance control is applied to the master robot, the integral sliding mode control is applied to the slave robot. The master and slave robot state observers are designed for the unknown interference. The ratio tracking in force and position from the master robot...
The continuous development of the voltage-source-converter-based multiterminal high-voltage direct-current transmission system has led to a great need for dc circuit breakers to isolate short-circuit faults in the dc side. The operating time of dc breakers is mainly dependent on the mechanical contacts separation time. In this paper, three key units of the ultra-fast operating mechanism, including...
In this paper, a simple analysis method for space force telepresence teleoperation system is proposed. Because the long distance between the master controller and the slave side, there exists long time delay in communication channel, which cause the system instability and decreased operation ability. The goal of this paper is to analyze the system unconditional stability with the difference and differential...
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