Robust bilateral shared autonomous systems with constant input interaction force with time varying delay

Shafiqul Islam, Xiaoping P. Liu, Abdulmotaleb El Saddik, Jorge Dias, Lakmal D. Seneviratne

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

In this paper, we introduce robust control algorithm for bilateral shared autonomous system with unsymmetrical time delay. The input combines robust and adaptive control term with the delayed position and local position-velocity signal of the master and slave manipulator. Lyapunov-Krasovskii function is used to establish delay dependant stability condition in the presence of constant input force and unsymmetrical delay. Unlike other control methods, the proposed design does not require a priori knowledge of the uncertainty associated with the unmodel dynamic and external disturbance. Finally, experimental results are given to illustrate the effectiveness of the proposed design for real-time applications.

Original languageBritish English
Pages (from-to)281-289
Number of pages9
JournalInternational Journal of Robotics and Automation
Volume31
Issue number4
DOIs
StatePublished - 2016

Keywords

  • Adaptive control
  • Constant input interaction
  • Robust control
  • Shared autonomy
  • Time delay

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