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Finite-time coordination control for networked bilateral teleoperation

Published online by Cambridge University Press:  05 March 2014

Yana Yang ,
Changchun Hua ,
Huafeng Ding  and
Xinping Guan
Yana Yang
Affiliation:
Institute of Electrical Engineering, Yanshan University, Qinhuangdao City, Qinhuangdao 066004, China
Changchun Hua*
Affiliation:
Institute of Electrical Engineering, Yanshan University, Qinhuangdao City, Qinhuangdao 066004, China
Huafeng Ding
Affiliation:
Institute of Electrical Engineering, Yanshan University, Qinhuangdao City, Qinhuangdao 066004, China
Xinping Guan
Affiliation:
Institute of Electrical Engineering, Yanshan University, Qinhuangdao City, Qinhuangdao 066004, China
*
*Corresponding author. E-mail: cch@ysu.edu.cn
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Summary

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.

Keywords

Teleoperation systemTime delayFinite-time

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 2 , February 2015 , pp. 451 - 462
Copyright
Copyright © Cambridge University Press 2014 

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