2009 American Control Conference 2009
DOI: 10.1109/acc.2009.5160311
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Bilateral teleoperation using unknown input observers for force estimation

Abstract: Abstract-Teleoperation systems that are distributed over large physical distances where time delays become nonnegligible are becoming popular in areas such as remote medicine and operating in hazardous environments. This work proposes a new approach to the bilateral control problem that extends an earlier approach [1] based on a sliding mode controller. The existing approach requires full state and force measurements at both the master and slave sides. Here, we propose the use of unknown input sliding mode obs… Show more

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Cited by 19 publications
(20 citation statements)
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“…The work presented here extends our earlier work presented in [6] and [7]. The work in [6] was developed for linear 1-DOF systems, while [7] presents our preliminary results for nonlinear n-DOF teleoperation systems.…”
Section: Introductionmentioning
confidence: 81%
See 2 more Smart Citations
“…The work presented here extends our earlier work presented in [6] and [7]. The work in [6] was developed for linear 1-DOF systems, while [7] presents our preliminary results for nonlinear n-DOF teleoperation systems.…”
Section: Introductionmentioning
confidence: 81%
“…The work presented here extends our earlier work presented in [6] and [7]. The work in [6] was developed for linear 1-DOF systems, while [7] presents our preliminary results for nonlinear n-DOF teleoperation systems. This brief builds upon the results of [7] by extending the closed-loop stability results for both delay-dependent and delay-independent stability, and performing a thorough simulation study.…”
Section: Introductionmentioning
confidence: 81%
See 1 more Smart Citation
“…By substituting (16) into (15), the bilateral controlled system is rewritten as the following equation…”
Section: Discussionmentioning
confidence: 99%
“…Chen et al 3 propose a nonlinear disturbance observer for force estimation based on the idea of modifying estimation by the difference between the estimated output and the actual output. Daly et al 4 apply sliding mode observer to a teleoperation system to estimate the force rendered by the human operator and environment based on position. Ahn et al 5 deploy Nicosia observer 6 to evaluate reaction forces produced through the interaction between human and environment in a teleoperation system.…”
Section: Introductionmentioning
confidence: 99%