English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

We present a control strategy to guarantee the stability of teleoperation systems formed by mechanical systems of nDOF with parametric uncertainties, external disturbances, a partial measure of state vectors, and without the use of force sensors.We neglected time delays in the communication channel, because we assume that mechanical systems are close enough. The control strategy is based on the disturbances active compensation structure, which incorporates discontinuous state observers and low-pass filters to estimate state variables and all nonmeasured signals needed to implement the controller. The controller is robust such that guarantees the tracking control objective. The teleoperation strategy’s performance is illustrated by experiments with mechanical systems of one and two degrees of freedom.

Teleoperación robusta de sistemas mecánicos basada en la estructura de control con compensación activa de perturbaciones