Control Of Nonlinear Teleoperation Systems Subject To Disturbances

Control of nonlinear teleoperation systems subject to disturbances

Researchers: Alireza Mohammadi, Horacio J. Marquez, Mahdi Tavakoli

Related publications: 1

Summary:

Teleoperation systems are subject to different types of disturbances such as dynamic uncertainties, frictions, etc. Such disturbances, when unaccounted for, may cause poor performance and even destabilize the teleoperation system. This project is focused on developing novel disturbance observers and incorporating them into the teleoperation framework. Lumping the effects of dynamic uncertainties and external disturbances into a single disturbance term enables us to design disturbance observers that suppress these disturbances and alleviate their adverse effects on the teleoperation system.