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A Globally Stable PD Controller for Bilateral Teleoperators
Abstract
In a recent scheme, with delayed derivative action [Lee and Spong,IEEE Trans. Robot., vol. 22, no. 2, pp. 269--281, Apr. 2006], it is claimed that a simple proportional derivative (PD) scheme yields a stable operation. Unfortunately, the stability proof hinges upon unverifiable assumptions on the human and contact environment operators, namely, that they define${\cal L}_\infty$--stable mapsfrom velocity to force. In this short paper, we prove that it is indeed possible to achieve stable behavior with simple PD-like schemes---even without the delayed derivative action---under the classical assumption of passivity of the terminal operators.
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Citations
Cited by
Passivity-based control for bilateral teleoperation: A tutorial
Nuño, E., Basañez, L., & Ortega, R. (2011) · Automatica · doi:10.1016/j.automatica.2011.01.004 · Cited by 370
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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
Position Tracking for Non-linear Teleoperators with Variable Time Delay
Nuño, E., Basañez, L., Ortega, R., & Spong, M. W. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364908099461 · Cited by 242
Self-citationAtashzar, S. F., Shahbazi, M., Tavakoli, M., & Patel, R. V. (2017) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2016.2594584 · Cited by 78
Metadata
- Authors
- Nuno, E., Ortega, R., Barabanov, N., & Basanez, L.
- Venue
- IEEE Transactions on Robotics
- Published
- 2008-06
- Volume
- 24
- Issue
- 3
- Pages
- 753-758
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2142161411
- Cited by
- 278
- References
- 0
- FWCI
- 27.03
- Type
- journal article
- Language
- en
- Open access
- closed
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- Nuno, E., Ortega, R., Barabanov, N., & Basanez, L. (2008). A Globally Stable PD Controller for Bilateral Teleoperators. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2008.921565
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