Adaptive motion control of rigid robots: a tutorial
Automatica (Journal of IFAC) - Identification and systems parameter estimation
Asymptotic stability for force reflecting teleoperators with time delay
International Journal of Robotics Research
Improving Perception in Time-delayed Telerobotics
International Journal of Robotics Research
Control schemes for stable teleoperation with communication delay based on IOS small gain theorem
Automatica (Journal of IFAC)
Brief paper: Synchronization of bilateral teleoperators with time delay
Automatica (Journal of IFAC)
Position Tracking for Non-linear Teleoperators with Variable Time Delay
International Journal of Robotics Research
Brief paper: An adaptive controller for nonlinear teleoperators
Automatica (Journal of IFAC)
Asymptotic stability of teleoperators with variable time-delays
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
A Globally Stable PD Controller for Bilateral Teleoperators
IEEE Transactions on Robotics
Transparency in Port-Hamiltonian-Based Telemanipulation
IEEE Transactions on Robotics
Force reflecting teleoperation with adaptive impedance control
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A control scheme for stable force-reflecting teleoperation over IP networks
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Generalized control method by state convergence for teleoperation systems with time delay
Automatica (Journal of IFAC)
Journal of Intelligent and Robotic Systems
A small gain framework for networked cooperative force-reflecting teleoperation
Automatica (Journal of IFAC)
Teleoperation in the presence of varying time delays and sandwich linearity in actuators
Automatica (Journal of IFAC)
Repetitive control of servo systems with time delays
Robotics and Autonomous Systems
Hi-index | 22.15 |
This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scattering-based, damping injection and adaptive controllers, ensure asymptotic stability in multiple situations that range from constant to variable time-delays, with or without scattering transformation and with or without position tracking capabilities. Although all controllers exploit the basic property of passivity of the teleoperators, they have been developed invoking various analysis and design tools, which complicates their comparison and relative performance assessment. The objective of this paper is to present a unified theoretical framework-based on a general Lyapunov-like function-that, upon slight modification, allows to analyze the stability of all the schemes.