We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
Finite-time coordination control for networked bilateral teleoperation.
- Authors
Yang, Yana; Hua, Changchun; Ding, Huafeng; Guan, Xinping
- Abstract
A continuous finite-time control scheme for networked bilateral teleoperation is proposed in this brief. The terminal sliding mode technology is used and new master–slave torques are designed. With the new controller, the coordination error of the master manipulator and the slave manipulator converges to zero in finite time. Moreover, the reaching time and the sliding time can be derived. Finally, the comparisons are performed and simulations show the effectiveness of the proposed approach.
- Subjects
REMOTE control; COMPUTER networks; SCHEME programming language; SLIDING mode control; ERROR analysis in mathematics
- Publication
Robotica, 2015, Vol 33, Issue 2, p451
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S026357471400037X