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  • 1.
    Sun, Da
    et al.
    National University of Singapore, Singapore, Singapore.
    Naghdy, Fazel
    University of Wollongong, Wollongong, Australia.
    Du, Halping
    University of Wollongong, Wollongong, Australia.
    Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance2017In: Nonlinear dynamics, ISSN 0924-090X, E-ISSN 1573-269X, Vol. 87, p. 1253-1270Article in journal (Refereed)
    Abstract [en]

    A novel approach applying the extended prescribed performance control (PPC) and the wavebased time domain passivity approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system’s passivity is guaranteed in the presence of arbitrary time delays. The system’s stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results showthat the proposed control algorithm can robustly guarantee the master–slave system’s passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.

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