Article Per Year (5 Year)
p-Index From 2019 - 2024
0
P-Index
This Author published in this journals
All Journal International Journal of Power Electronics and Drive Systems (IJPEDS)
Sari Abdo Ali
Universiti Teknikal Malaysia Melaka
Control & Systems Engineering Electrical & Electronics Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
The Effect of Parameters Variation on Bilateral Controller Sari Abdo Ali; Muhammad Fahmi Miskon; Ahmad Zaki Hj Shukor; Marwan Qaid Mhoammed
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 9, No 2: June 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijpeds.v9.i2.pp648-659

Abstract

This paper analyzes the effects of the bilateral control parameters variation on the stability, the transparency and the accuracy, and on the operational force that is applied to DC motor and the master system. The bilateral controller is designed for rehabilitation process. PD controller is used to control the position tracking and a force gain controller is used to control the motor torque. DOB eliminate the internal disturbance and RTOB to estimate the joint torque without using sensors. The system consists of two manipulators, each manipulator has 1dof, master and slave teleoperation system, 4 control-architecture channel, DOB and reaction force observer. The master system is attached to human oberator. The slave system is attached to external load. The aim in this paper is to design the controller so that it requires less force to move the master manipulator and at the same time achieve high performance in position tracking.
Co-Authors Ahmad Zaki Hj Shukor Marwan Qaid Mhoammed Muhammad Fahmi Miskon