Time-Domain Passivity-based Controller with an Optimal Two-channel Lawrence Telerobotic Architecture
Navid Feizi Smrithi Thudi Rajni V. Patel S. Farokh Atashzar Navid Feizi Smrithi Thudi Rajni V. Patel S. Farokh Atashzar
The time-domain passivity approach has been proposed in the literature in a variety of formats to guarantee the stability of teleoperation leader-follower systems. The conventional use of the proposed technique utilizes the control effort at the follower side as the force feedback to be sent back to the user at the leader’s side. However, this has resulted in transparency problems, especially when...