Stable bilateral teleoperation with phase transition and haptic feedback |
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| Authors: | Edgar Estrada Wen Yu Xiaoou Li |
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| Institution: | 1. Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico;2. Departamento de Computacion, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico;1. Department of Control and Automation Engineering, National Korea Maritime and Ocean University, Busan 49112, South Korea;2. School of IT Information and Control Engineering, Kunsan National University, Kunsan 54150, South Korea;1. Automatic Laboratory of Setif, Department of Electrical Engineering, Setif 1 University, Maabouda, Street of Bejaia, Setif 19000, Algeria;2. Université de Rouen, IUT, Chemical Engineering Department, Rue Lavoisier, Mont-Saint-Aignan 76130, France;1. School of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, Zhejiang, China;2. The State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, China;3. Zhejiang Provincial Key Laboratory of Part Rolling Technology, Ningbo 315211, Zhejiang, China;4. College of Information Engineering, Nanjing University of Finance and Economics, Nanjing 210023, Jiangsu, China;5. School of Engineering Technology, Purdue University, 610 Purdue Mall, West Lafayette, IN 47907, America;1. College of Electrical and Information Engineering, Jiangsu University of Technology, Changzhou 213001, China;2. College of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China;1. School of Information Engineering, Fuyang Normal University, Fuyang 236041, PR China;2. College of Mathematics and Statistics, Guangxi Normal University, Guilin 541006, PR China;3. School of Information Science and Engineering, Chengdu University, Chengdu 610106, PR China;4. School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin 541004, PR China;5. School of Mathematics, Southeast University, Nanjing 211189, China;6. Yonsei Frontier Lab, Yonser University, Seoul 03722, Korea;1. School of Electronic and Electric Engineering, Shanghai University of Engineering Science, China;2. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China;3. School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, China;4. School of Physics and Electronic Engineering, Guangzhou University, Guangzhou, China |
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| Abstract: | Abstract: In this paper, the bilateral teleoperation with haptic feedback is studied under the phase transition between the constraint and unconstraint motions. The stability of the teleoperation with both force feedback and phase transition is proven by Lyapunov–Krasovskii method and hybrid systems theory. The conditions of the theory results are more general than the others, they are time-varying delays, nonlinear systems, force feedback, and phase transition. By using the admittance control, the application results illustrate the efficiency of the proposed control method. |
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