The DOI matches its Crossref record; 38 of the 38 references it cites were found in a registry or an index.
Passivity-based control for bilateral teleoperation: A tutorial
Open accessAbstract
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.
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Cites
Spong, M. W., Hutchinson, S., & Vidyasagar, M. (2006) · Cited by 3,313
Bilateral control of teleoperators with time delay
Anderson, R. J., & Spong, M. W. (1989) · IEEE Transactions on Automatic Control · doi:10.1109/9.24201 · Cited by 2,128
Bilateral teleoperation: An historical survey
Hokayem, P. F., & Spong, M. W. (2006) · Automatica · doi:10.1016/j.automatica.2006.06.027 · Cited by 1,671
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Adaptive motion control of rigid robots: A tutorial
Ortega, R., & Spong, M. W. (1989) · Automatica · doi:10.1016/0005-1098(89)90054-x · Cited by 1,238
Self-citationAdaptive manipulator control: A case study
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Passive Bilateral Teleoperation With Constant Time Delay
Lee, D., & Spong, M. W. (2006) · IEEE Transactions on Robotics · doi:10.1109/tro.2005.862037 · Cited by 569
Telemanipulation with Time Delays
Niemeyer, G., & Slotine, J.-J. E. (2004) · The International Journal of Robotics Research · doi:10.1177/0278364904045563 · Cited by 539
Modeling and Control of Complex Physical Systems
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Antonakoglou, K., Xu, X., Steinbach, E., Mahmoodi, T., & Dohler, M. (2018) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2018.2851452 · Cited by 250
AJWAD, S. A., IQBAL, J., KHAN, A. A., & MEHMOOD, A. (2015) · Studies in Informatics and Control · doi:10.24846/v24i4y201504 · Cited by 53
Metadata
- Authors
- Nuño, E., Basañez, L., & Ortega, R.
- Venue
- Automatica
- Publisher
- Elsevier BV
- Published
- 2011-03
- Volume
- 47
- Issue
- 3
- Pages
- 485-495
- ISSN
- 0005-1098 (ISSN-L)
- OpenAlex
- W1965361141
- Cited by
- 370
- References
- 38
- FWCI
- 43.82
- Type
- journal article
- Language
- en
- Open access
- green
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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