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This paper presents a delay compensation technique for nonlinear teleoperators by developing a predictor type sliding mode observer (SMO) that estimates future states of the slave operator. Predicted states are then used in control formulation. In the proposed scheme, disturbance observers (DOB) are also utilized to linearize nonlinear dynamics of the master and slave operators. It is shown that utilization...
A three-channel bilateral control system which is hybrid of position control and force control in the acceleration dimension based on disturbance observer gets unstable in contact with environments under time delay. In this control system, the sum of master force and slave force is controlled to zero in common modal space to realize the law of action-reaction. This paper proposes a velocity damping...
This note presents a feedforward and feedback optimal control (FFOC) law for a class of nonlinear time-delay systems affected by external disturbances. A sequence of inhomogeneous linear non-delay state and adjoint vector equations are constructed to approximate to the original two-point boundary value (TPBV) problems from the original optimal control problem. The convergence of the sequences is proved...
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