dc.creator | Salinas, Lucio Rafael | |
dc.creator | Santiago, Diego | |
dc.creator | Slawiñski, Emanuel | |
dc.creator | Mut, Vicente Antonio | |
dc.creator | Chavez Garcia, Geovanny Danilo | |
dc.creator | Leica Arteaga, Paulo Cesar | |
dc.creator | Camacho Quintero, Oscar Eduardo | |
dc.date.accessioned | 2019-11-19T22:12:34Z | |
dc.date.accessioned | 2022-10-14T22:49:22Z | |
dc.date.available | 2019-11-19T22:12:34Z | |
dc.date.available | 2022-10-14T22:49:22Z | |
dc.date.created | 2019-11-19T22:12:34Z | |
dc.date.issued | 2018-08 | |
dc.identifier | Salinas, Lucio Rafael; Santiago, Diego; Slawiñski, Emanuel; Mut, Vicente Antonio; Chavez Garcia, Geovanny Danilo; et al.; P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot; Inst Control Robotics & Systems; International Journal Of Control Automation And Systems; 16; 4; 8-2018; 1927-1937 | |
dc.identifier | 1598-6446 | |
dc.identifier | http://hdl.handle.net/11336/89238 | |
dc.identifier | 2005-4092 | |
dc.identifier | CONICET Digital | |
dc.identifier | CONICET | |
dc.identifier.uri | https://repositorioslatinoamericanos.uchile.cl/handle/2250/4315929 | |
dc.description.abstract | 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. | |
dc.language | eng | |
dc.publisher | Inst Control Robotics & Systems | |
dc.relation | info:eu-repo/semantics/altIdentifier/url/https://link.springer.com/article/10.1007/s12555-017-0439-x | |
dc.relation | info:eu-repo/semantics/altIdentifier/doi/https://doi.org/10.1007/s12555-017-0439-x | |
dc.rights | https://creativecommons.org/licenses/by-nc-sa/2.5/ar/ | |
dc.rights | info:eu-repo/semantics/restrictedAccess | |
dc.subject | BILATERAL TELEOPERATION | |
dc.subject | LYAPUNOV-KRASOVSKII | |
dc.subject | MOBILE ROBOT | |
dc.subject | PD-LIKE CONTROL | |
dc.subject | SLIDING MODE CONTROL | |
dc.title | P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot | |
dc.type | info:eu-repo/semantics/article | |
dc.type | info:ar-repo/semantics/artículo | |
dc.type | info:eu-repo/semantics/publishedVersion | |