Composite Adaptive Control of Teleoperators with Joint Flexibility, Uncertain Parameters, and Time-Delays

被引：2
作者：
Li, Yuling [2 ]
Li, Chang [2 ]
Dong, Jie [1 ,2 ]
Li, Jing [2 ]
Yin, Yixin [2 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
[2] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Key Lab Knowledge Automat Ind Proc, Minist Educ, Beijing 100083, Peoples R China
来源：
IEEE ACCESS | 2019年 / 7卷
基金：
北京市自然科学基金; 中国国家自然科学基金;
关键词：
Teleoperators; delay systems; adaptive control; composite adaptation; parameter convergence; gravity compensation; BILATERAL TELEOPERATION; CONTROL DESIGN; SYNCHRONIZATION CONTROL; SYSTEMS;
D O I：
10.1109/ACCESS.2019.2935769
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is focused on composite adaptive control design for master-slave teleoperation systems with a flexible-joint manipulator as the slave. Gravity compensation and time-varying delays are considered. For the master manipulator, the composite adaptive controller with a novel adaptation law is designed to guarantee the parameter estimation error and the tracking error converging to zero. For the slave manipulator with joint flexibility, the proportional plus damping control with gravity compensation is proposed. The stability criteria of the closed-loop teleoperation system are given in terms of linear matrix inequalities. Comprehensive simulation studies are provided to demonstrate the effectiveness of the proposed control scheme.
引用
收藏
页码：115673 / 115681
页数：9
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