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NTIS 바로가기제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering, v.13 no.11, 2007년, pp.1099 - 1105
In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivit...
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