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Passivity-Based Bilateral Tele-Driving System With Parametric Uncertainty and Communication Delays

作     者:Dong, Yimeng Chopra, Nikhil 

作者机构:Univ Maryland Dept Mech Engn College Pk MD 20740 USA 

出 版 物:《IEEE CONTROL SYSTEMS LETTERS》 (IEEE Control Syst. Lett.)

年 卷 期:2019年第3卷第2期

页      面:350-355页

核心收录:

基  金:National Science Foundation [ECCS1711554] Naval Air Warfare Center Aircraft Division, Pax River, MD, USA [N00421132M022] 

主  题:Human-in-the-loop control control over communications 

摘      要:In this letter, a new bilateral tele-driving control design is proposed to enable a human driver to tele-drive a car-like mobile robot with haptic feedback. In the presence of communication delays and dynamic parametric uncertainties, a passivity-based adaptive control algorithm is designed to achieve scaled coordination between a local and a remote robot. The efficacy of the proposed control scheme is verified through numerical simulations.

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