Document Zbl 1306.93040

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X.</a>; <a href="/authors/el-saddik.abdulmotaleb" title="Author Profile">El Saddik, A.</a></div> <h2 class="title"> <strong>Nonlinear control for teleoperation systems with time varying delay.</strong> <i>(English)</i> <a class="label nowrap" href="/1306.93040">Zbl 1306.93040</a> </h2> <div class="source"> <a href="/serials/2322" title="Journal Profile">Nonlinear Dyn.</a> <a href="/?q=in%3A332330" title="Articles in this Issue">76, No. 2, 931-954 (2014)</a>. </div> <div class="abstract">Summary: In this paper, we introduce delay-dependent control strategies for bilateral teleoperation systems in the presence of passive and constant input forces under time varying delay. We first design teleoperation systems where the local and remote sites are coupled by position signals of the master and slave manipulator. The design also combined undelayed position and velocity signals with nonlinear adaptive control terms to deal with the parametric uncertainties associated with the dynamical model of the master and slave manipulator. Then, we develop teleoperators by delaying position and velocity signals of the master and slave manipulator. Using Lyapunov-Krasovskii function, delay-dependent stability and tracking conditions for both teleoperators are developed in the presence of symmetrical and unsymmetrical time varying delays. The stability conditions are established in the presence of passive and constant human and environment interaction forces with the master and slave manipulators. Finally, simulation results are presented to demonstrate the validity of the theoretical development of the proposed designs for real-time teleoperation applications.</div> <div class="clear"></div> <br> <div class="citations"><div class="clear"><a href="/?q=rf%3A6411295">Cited in <strong>11</strong> Documents</a></div></div> <div class="classification"> <h3>MSC:</h3> <table><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C10" title="MSC2020">93C10</a> </td> <td class="space"> Nonlinear systems in control theory </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C95" title="MSC2020">93C95</a> </td> <td class="space"> Application models in control theory </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A94A05" title="MSC2020">94A05</a> </td> <td class="space"> Communication theory </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93D05" title="MSC2020">93D05</a> </td> <td class="space"> Lyapunov and other classical stabilities (Lagrange, Poisson, $L^p, l^p$, etc.) in control theory </td> </tr></table> </div><div class="keywords"> <h3>Keywords:</h3><a href="/?q=ut%3Aremote+operation+and+control">remote operation and control</a>; <a href="/?q=ut%3Atelehaptic">telehaptic</a>; <a href="/?q=ut%3Atime+varying+delay">time varying delay</a>; <a href="/?q=ut%3Apassive+input+forces">passive input forces</a>; <a href="/?q=ut%3Aconstant+input+forces">constant input forces</a></div>  <div class="modal fade" id="metadataModal" tabindex="-1" role="dialog" aria-labelledby="myModalLabel"> <div class="modal-dialog" role="document"> <div class="modal-content"> <div class="modal-header"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> <h4 class="modal-title" id="myModalLabel">Cite</h4> </div> <div class="modal-body"> <div class="form-group"> <label for="select-output" class="control-label">Format</label> <select id="select-output" class="form-control" aria-label="Select Metadata format"></select> </div> <div class="form-group"> <label for="metadataText" class="control-label">Result</label> <textarea class="form-control" id="metadataText" rows="10" style="min-width: 100%;max-width: 100%"></textarea> </div> <div id="metadata-alert" class="alert alert-danger" role="alert" style="display: none;">  </div> </div> <div class="modal-footer"> <button type="button" class="btn btn-primary" onclick="copyMetadata()">Copy to clipboard</button> <button type="button" class="btn btn-default" data-dismiss="modal">Close</button> </div> </div> </div> </div> <div class="functions clearfix"> <div class="function">  <a type="button" class="btn btn-default btn-xs pdf" data-toggle="modal" data-target="#metadataModal" data-itemtype="Zbl" data-itemname="Zbl 1306.93040" data-ciurl="/ci/06411295" data-biburl="/bibtex/06411295.bib" data-amsurl="/amsrefs/06411295.bib" data-xmlurl="/xml/06411295.xml" > Cite </a> <a class="btn btn-default btn-xs pdf" data-container="body" type="button" href="/pdf/06411295.pdf" title="Zbl 1306.93040 as PDF">Review PDF</a> </div> <div class="fulltexts"> <span class="fulltext">Full Text:</span> <a class="btn btn-default btn-xs" type="button" href="https://doi.org/10.1007/s11071-013-1179-y" aria-label="DOI for “Nonlinear control for teleoperation systems with time varying delay”" title="10.1007/s11071-013-1179-y">DOI</a> </div> <div class="sfx" style="float: right;"> </div> </div> <div class="references"> <h3>References:</h3> <table><tr> <td>[1]</td> <td class="space">Lawrence, D.: Stability and transparency in bilateral teleoperation. 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