Force feedback control for bilateral teleoperation system with unknown Prandtl-Ishlinskii hysteresis

被引：3

作者：

Hua, Changchun ^{[1
]}

Wang, Yilu ^{[1
]}

Yang, Yana ^{[1
]}

Guan, Xinping ^{[2
]}

机构：

[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Hebei, Peoples R China

[2] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China

来源：

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2020年 / 357卷 / 13期

基金：

中国国家自然科学基金; 国家重点研发计划;

关键词：

STOCHASTIC NONLINEAR-SYSTEMS; BACKLASH-LIKE HYSTERESIS; ADAPTIVE NEURAL-CONTROL; SLIDING MODE CONTROL; TRACKING CONTROL; STABILITY-CRITERIA; INPUT; DELAY; COMPENSATION; PERFORMANCE;

D O I：

10.1016/j.jfranklin.2020.03.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Hysteresis nonlinearity is a common phenomenon in mechanical actuators. Specially, it appears when the direction of motion of mechanical actuated joint is reversed in robotic manipulator. This paper focuses on the force feedback control problem for bilateral teleoperation system with unknown Prandtl-Ishlinskii (PI) hysteresis. First, an improved sliding mode observer with adaptive gains is provided for estimating the external force signals acting on the manipulators. This removes the need for force sensors and reduces hardware-cost. Next, to improve transparency and guarantee the passivity of the communication network, a four-channel wave variable transformation scheme including force information is introduced. Then, an adaptive switching-based control framework is proposed to deal with Prandtl-Ishlinskii hysteresis dynamics. Finally, the theoretical findings are supported by simulation and experiment results. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

引用

页码：8321 / 8341

页数：21

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