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In this paper, synchronization of nonlinear teleoperation systems in the presence of non-passive and uncertain conditions in both the operator and the environment is studied. Despite existing approaches in the literature which are based on linear impedance models, the proposed approach in this paper has considered uncertain nonlinearities in the impedance model which results in better tracking performance...
In this paper, the problem of a bilateral teleoperation system in contact with active environment is considered. The human operator is assumed to be nonpassive, and the network is subject to unsymmetrical constant time delay. Two new nonlinear terms are added to the common PD control strategy in order to deal with the active impedance appeared in the closed loop system. The master/slave robots are...
Developments to the small-gain design approach to networked cooperative force-reflecting teleoperators are presented. Explicit assumptions on the human dynamics are incorporated into the stability analysis, and the conservatism of the small-gain design is eliminated using the projection-based force reflection principle. Results are established that describe the stability properties of the networked...
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