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This paper presents a robust adaptive controller to achieve position tracking and unknown parameters problem in teleoperation system with time delay in communication channel. The smooth sliding mode control is added to deal with uncertainties in modeling, instead of normal sliding mode control to avoid the chattering problem. This robust adaptive control can guarantee that the system is asymptotically...
This paper presents a robust adaptive algorithm with smooth sliding mode for bilateral control system which necessary uses for achieving in teleoperation. The system uses a hybrid structure to implement simultaneous force and position control, with a two-channel controller. The desired trajectory is the position of a master device manipulated by a human operator, which serves as the reference position...
In recent years, bilateral system has been widely researched for its functionality and availability. The system is effective in the fields of medical treatment, but application is limited to one-on-one system. The purpose of this study is development of basic technology for haptic information sharing technology. In this paper, a noble bilateral control method is introduced to realize multiple inputs...
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