Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9706
Title: Adaptive control non-linear teleoperator systems in the presence of additive input and output disturbances
Authors: Tatlıcıoğlu, Enver
Keywords: Adaptive control
teleoperator systems
robust control
passivity
Issue Date: 2010
Publisher: ACTA Press
Abstract: In this paper, a robust adaptive controller is developed for nonlinear teleoperator systems. The controller is proven to yield semi-global asymptotic tracking in the presence of additive disturbances and parametric uncertainty. Robust integral of the sign of the error terms are utilized in the design of the controller and Lyapunov-based techniques are used to guarantee that the coordination between the master and the slave systems is ensured and the tracking error is asymptotically driven to zero.
URI: https://doi.org/10.2316/Journal.206.2010.1.206-3244
https://hdl.handle.net/11147/9706
ISSN: 0826-8185
1925-7090
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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