A model based nonlinear adaptive controller for the passive bilateral telerobotic system

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dc.contributor.authorOzbay, Ufuk
dc.contributor.authorZergeroğlu, Erkan
dc.contributor.authorKandemir, Ilyas
dc.date.accessioned2025-10-29T11:08:29Z
dc.date.issued2010
dc.departmentFakülteler, Mühendislik Fakültesi, Bilgisayar Mühendisliği Bölümü
dc.description16th National IFAC Symposium on Automatic Control, TOK -- 2008 -- undefined, TURKEY
dc.description.abstractIIs this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems. The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.
dc.identifier.doi10.3906/elk-0906-11
dc.identifier.endpage798
dc.identifier.issn1300-0632
dc.identifier.issn1303-6203
dc.identifier.issue5
dc.identifier.orcid0000-0002-1211-0448
dc.identifier.scopus2-s2.0-77958500359
dc.identifier.scopusqualityQ2
dc.identifier.startpage781
dc.identifier.trdizinid105766
dc.identifier.urihttps://doi.org/10.3906/elk-0906-11
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay/105766
dc.identifier.urihttps://hdl.handle.net/20.500.14854/5366
dc.identifier.volume18
dc.identifier.wosWOS:000284179900007
dc.identifier.wosqualityQ4
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.publisherTubitak Scientific & Technological Research Council Turkey
dc.relation.ispartofTurkish Journal of Electrical Engineering and Computer Sciences
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_WOS_20251020
dc.subjectModel Based Control
dc.subjectNonlinear Systems
dc.subjectPassive Systems
dc.subjectRobotics
dc.subjectTele-operation
dc.subjectLyapunov Based Approaches
dc.titleA model based nonlinear adaptive controller for the passive bilateral telerobotic system
dc.typeConference Object

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