Yichen Zhong's research while affiliated with Nanjing Tech University and other places
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Publications (3)
The uncertainty of environmental parameters and time-varied characteristics usually generate contact force errors resulting the inaccuracy or even task failed in many tele-operation systems. In order to solve the problem, a novel composite bilateral tele-operation controller is proposed in this paper combining adaptive impedance control with nonlin...
Aiming at achieving high flexibility and safety, telerehabilitation systems and telesurgery systems often use flexible manipulators in the telerehabilitation systems. However, due to the structure of the flexible manipulator, it has strong model uncertainties and nonlinearity in its dynamic model which causes the difficulty of the accurate control....
Citations
... In [1], for a redundant manipulator, an adaptive PID fast terminal sliding mode was proposed. A sliding mode and a state observer-based controller were designed to make flexible robotic manipulators perform remote rehabilitation missions in [2]. ere are also some other approaches dealing with the robotic manipulators such as sliding mode control [1][2][3][4][5][6], robust control [3,7], adaptive fuzzy [8][9][10][11][12], PID controller [13][14][15]. ...
