Adaptive control of time delay teleoperation system with uncertain dynamics

被引：144

作者：

Lu, Siyu ^{[1
]}

Ban, Yuxi ^{[1
]}

Zhang, Xia ^{[1
]}

Yang, Bo ^{[1
]}

Liu, Shan ^{[1
]}

Yin, Lirong ^{[2
]}

Zheng, Wenfeng ^{[1
]}

机构：

[1] Univ Elect Sci & Technol China, Sch Automat, Chengdu, Peoples R China

[2] Louisiana State Univ, Dept Geog & Anthropol, Baton Rouge, LA USA

来源：

FRONTIERS IN NEUROROBOTICS | 2022年 / 16卷

关键词：

adaptive bilateral control method; Lyapunov stability theory; time delay teleoperation system; uncertain dynamics; force feedback; PEB control structure; BILATERAL TELEOPERATION; RECONSTRUCTION; MANIPULATORS; STABILITY;

D O I：

10.3389/fnbot.2022.928863

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A bilateral adaptive control method based on PEB control structure is designed for a class of time-delay force feedback teleoperation system without external interference and internal friction to study the uncertainty of dynamic parameters and time delay. The stability and tracking performances of the closed-loop constant time delay teleoperation system are analyzed by Lyapunov stability theory. Finally, the controller designed in this paper is successfully applied to the teleoperation system composed of a two-degree of freedom rotating manipulator as the master robot and the slave robot. The simulation is carried out in no operator and environment force or with operator and environment force. The adaptive bilateral control method's control performance is compared with that of the traditional time-delay teleoperation system. Finally, it is verified that the method has good control performance.

引用

页数：15

共 33 条

[1]

Bejczy A.K., 1994, Progress in Astronautics and Aeronautics, V161, P107, DOI 10.2514/5.9781600866333.0107.0138

[2] An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles [J].

Bessa, Wallace M. ;

Dutra, Max S. ;

Kreuzer, Edwin .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2010, 58 (01) :16-26

[3] Impedance control with variable damping for bilateral teleoperation under time delay [J].

Cho, HC ;

Park, JH .

JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 2005, 48 (04) :695-703

[4]

Dehghan SAM, 2016, INT CONF SYST THEO, P102, DOI 10.1109/ICSTCC.2016.7790648

[5]

DiMaio S, 2011, SURGICAL ROBOTICS: SYSTEMS APPLICATIONS AND VISIONS, P199, DOI 10.1007/978-1-4419-1126-1_9

[6]

Franken M, 2012, IEEE INT CONF ROBOT, P4300, DOI 10.1109/ICRA.2012.6224572

[7] Operator Dynamics Consideration for Less Conservative Coupled Stability Condition in Bilateral Teleoperation [J].

Haddadi, Amir ;

Razi, Kamran ;

Hashtrudi-Zaad, Keyvan .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2015, 20 (05) :2463-2475

[8]

Hashtrudi-Zaad K, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P1863, DOI 10.1109/ROBOT.1999.770380

[9]

Joinie-Maurin M., 2011, IEEE International Conference on Robotics and Automation, P4828

[10] A design of bilateral teleoperation systems using composite adaptive controller [J].

Kim, Byeong-Yeon ;

Ahn, Hyo-Sung .

CONTROL ENGINEERING PRACTICE, 2013, 21 (12) :1641-1652

← 1 2 3 4 →