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Sliding Mode Control for Teleoperation Systems by hairnguyen258 is a document available to read on EtoBox.
This paper presents a sliding mode controller designed for bilateral teleoperation systems that addresses the challenges posed by communication delays. The proposed controller enhances position and force tracking performance, proving robust stability through Lyapunov theory and numerical simulations. Results indicate that the sliding mode controller significantly outperforms conventional coordination controllers in managing master-slave robot dynamics.
- Author
- hairnguyen258
- Language
- EN