title   
  

Time delay compensation in bilateral teleoperation using sliding mode observer

Çallı, Berk and Leblebici, Tuğba and Ünel, Mustafa and Şabanoviç, Asif and Bogosyan, Seta and Gökaşan, Metin (2009) Time delay compensation in bilateral teleoperation using sliding mode observer. (Accepted/In Press)

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Official URL: http://journals.tubitak.gov.tr/elektrik/index.php

Abstract

In bilateral control applications, time delays in the communication channel have destabilizing effects. In this paper, a new sliding mode observer based compensation technique is presented. Disturbance observer is utilized to make this sliding observer more robust to parameter changes. Simulation and experimental results show that the proposed method is successful in avoiding instability due to time delays and providing transparency between master and slave sides.

Item Type:Article
Subjects:UNSPECIFIED
ID Code:13592
Deposited By:Mustafa Ünel
Deposited On:22 Dec 2009 10:46
Last Modified:22 Dec 2009 10:46

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