Robust higher order sliding mode based impedance control for dual-user teleoperation under unknown constant time delay

Santacruz-Reyes, Hugo; García-Valdovinos, Luis G.; Jiménez-Hernández, Hugo; López-Segovia, Alan G.; Domínguez-Ramírez, Omar A.

doi:10.1109/iceee.2014.6978304

Cited by 2 publications

(1 citation statement)

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“…In [4], two different dominance factors are proposed to adjust the control authority over the slave and between users, and the stability is ensured by a Lyapunov function even in presence of delays and transmission packet drops. Still with the same authority mechanism, a robust higher order sliding mode control is proposed by [6] under unknown constant time delay.…”

Section: Introductionmentioning

confidence: 99%

An energy based approach for passive dual-user haptic training systems

Liu

Lelevé

Ebérard

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper introduces a new controller for dualuser training systems, designed by way of an energy based approach. Dual-user training systems are useful for supervised hands-on training when a trainer shows the right gestures to a trainee and where the forces to apply on the tools are difficult to dose. An energy shared control (ESC) based architecture is proposed, based on an intrinsically passive authority sharing mechanism which is enhanced to provide a full force feedback to both users. As this enhancement may violate the natural passivity of the system, a passivity controller is introduced. A task based comparative study with two other dual-user schemes (Complementary Linear Combination (CLC) and Masters Correspondence with Environment Transfer (MECT) from [1] is conducted, which reveals analogous performances. Real-time experiments demonstrate good tracking performances.

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Section: Introductionmentioning

confidence: 99%