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Adaptive bilateral control for nonlinear uncertain teleoperation with guaranteed transient performance

Published online by Cambridge University Press:  30 December 2014

Zhang Chen,
Bin Liang,
Tao Zhang,
Xueqian WangOpen the ORCID record for Xueqian Wang[Opens in a new window] and
Bo Zhang
Zhang Chen*
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 10084, P. R. ChinaBeijing Aerospace Automatic Control Institute, Beijing 100854, P. R. China
Bin Liang
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 10084, P. R. China
Tao Zhang
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 10084, P. R. ChinaKey Laboratory of Advanced Control and Optimization for Chemical Processes, Shanghai 200237, P. R. China
Xueqian Wang
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 10084, P. R. China
Bo Zhang
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 10084, P. R. China
*
*Corresponding author. E-mail: czbuaa@gmail.com
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Summary

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Due to the special working environment of teleoperation, there are usually uncertainties existing in the dynamics of teleoperating robots. In this paper, an adaptive bilateral control scheme is proposed for the nonlinear teleoperation with parameterized dynamic uncertainties and time delays. Compared to the existing time-delay adaptive bilateral controllers, the proposed scheme has the advantage of faster and more accurate parameter adaptation. In this way, the transient performance of teleoperators can be improved without increasing the control gains, which is helpful for stability of teleoperation. The adaptive bilateral controller is designed to be applicable both in free motion and in constrained motion. The synchronization errors in the unconstrained subspace are asymptotically convergent under time delays. In the constrained subspace, the contact force remains bounded with the proposed controller. The stability of teleoperation is proved using Lyapunov methods and the passivity theory. Simulation results demonstrate the effectiveness of the proposed method.

Keywords

TeleoperationBilateral controlAdaptive controlTransient performanceTime delays

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 10 , October 2016, pp. 2205 - 2222
Copyright
Copyright © Cambridge University Press 2014 

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