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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 |
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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