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P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
Lucio R. Salinas,Diego Santiago,Emanuel Slawiñski,Vicente A. Mut,Danilo Chavez,Paulo Leica,Oscar Camacho 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The proposal includes on the remote site both a P+d control and an SMC strategy in such a way that the advantages of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delaydependent stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and stability of the proposed control scheme.