Composite nonlinear bilateral control for teleoperation systems with external disturbances

Volume: 6, Issue: 5, Pages: 1220 - 1229
Published: Sep 1, 2019
Abstract
This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer (NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing...
Paper Details
Title
Composite nonlinear bilateral control for teleoperation systems with external disturbances
Published Date
Sep 1, 2019
Volume
6
Issue
5
Pages
1220 - 1229
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