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		<identifier>oai:zbc.uz.zgora.pl:86020</identifier>
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<dc:title xml:lang="pl"><![CDATA[Stability and transparency of delayed bilateral teleoperation with haptic feedback]]></dc:title>
<dc:creator><![CDATA[Estrada, Edgar]]></dc:creator>
<dc:creator><![CDATA[Yu, Wen]]></dc:creator>
<dc:creator><![CDATA[Li, Xiaoou]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[teleoperation]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[force control]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[stability]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[transparency]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov-Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Clempner, Julio B. - ed.]]></dc:contributor>
<dc:contributor><![CDATA[Ikonen, Enso - ed.]]></dc:contributor>
<dc:contributor><![CDATA[Kurdyukov, Alexander P. - ed.]]></dc:contributor>
<dc:date><![CDATA[2019]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/86020/AMCS_2019_29_4_5.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/101032/edition/86020/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:86020]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 29, number 4 (2019)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=114]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:101032]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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