Adaptive control for time-delay teleoperation systems with uncertain dynamics

In most teleoperation systems, the dynamics are uncertain and the communications exhibit time delays. In order to confront these problems, this paper reports a position error-based bilateral adaptive controller, in which the unknown operator dynamical parameters and environmental dynamical parameters are included in the unknown vector of the system to be evaluated, adaptive estimate laws are compensated by estimate errors and dissipation by time delays are compensated. By using Lyapunov-Krasovskii stability theorem, it is proved that both position errors and velocities of the teleoperation system asymptotically convergent to zero. Simulations are performed to compare the performance of the proposed controller with the traditional adaptive controller and to demonstrate the efficiency of the developed teleoperation control system.