Synchronization control of teleoperation systems based on generalized extended state observers

被引：0

作者：

Zhang W.-A. ^{[1
]}

Jin J.-K. ^{[1
]}

Yu L. ^{[1
]}

Lu Q. ^{[1
]}

机构：

[1] College of Information Engineering, Zhejiang University of Technology, Hangzhou

来源：

Zhang, Wen-An (wazhang@zjut.edu.cn) | 1600年 / Northeast University卷 / 31期

关键词：

Generalized extended state observer; Synchronization control; Teleoperation; Time delay;

D O I：

10.13195/j.kzyjc.2015.1090

中图分类号：

学科分类号：

摘要：

This paper investigates the synchronization control problem for teleoperation systems with time-varying delays based on generalized extended state observers (GESO). The proposed controller ensures the stability of the teleoperation system as well as the synchronization of positions of the master and slave manipulators. By feedback linearization, the nonlinear dynamics of the teleoperation system is transformed into a state space model about tracking errors and time delay. Then, the GESO and the control law are designed for the multiple input multiple output model with mismatched uncertainties, and the GESO is able to estimate the uncertainties induced by the time-varying delay and other disturbance. Moreover, the stability and disturbance analysis are also presented for the teleoperation system. Finally, simulations are provided to verify the effectiveness of the proposed control method. © 2016, Editorial Office of Control and Decision. All right reserved.

引用

页码：2077 / 2082

页数：5

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