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For bilateral teleoperation system, the performance of trajectory tracking and force feedback is not ensured due to delay introduced by the communication channel. This paper proposed a novel stabilization control method based on fuzzy singularly perturbed model of bilateral teleoperation. Firstly, system equations are transformed into state space expression of errors dynamic and built the singularly...
It is well known that control of PDEs with input delay is just opening up for research. This paper presents boundary control design and stabilization for a reaction-diffusion PDE with diffusion coefficients depending on space variable and input time delay. The control design involves an interesting structure of two interconnected PDEs to transfer the input time delay into a space extension. And the...
Bilateral control of teleoperation is one of the typical methods for half-automatic control of space robotic system. This paper focuses on the task requirement that the space robot monitoring in orbit (no contact with environment), introduces a half closed-loop framework to construct the bilateral control system with force feedback. First, dynamic model was built, and then after the Lyapunov stability...
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