An Adaptive Controller for Bilateral Teleoperation Systems with Uncertain Kinematics and Dynamics

被引：0

作者：

Javid, Afshin ^{[1
]}

Nekoui, Mohammad Ali ^{[2
]}

机构：

[1] Islamic Azad Univ, South Tehran Branch, Fac Tech & Engn, Tehran, Iran

[2] KN Toosi Univ Technol, Fac Elect Engn, Tehran, Iran

来源：

2018 6TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2018) | 2018年

关键词：

Teleoperation Systems; Dynamic Uncertainty; Kinematic Uncertainty; Adaptive Control; Input-to-State Stability (ISS); FEEDBACK; TRANSPARENCY; DESIGN;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this study, the controller design problem for teleoperation system with time delay and uncertainty will be investigated. In most of current studies, only the dynamic uncertainties of robots have been investigated. However, in this paper, the control design problem of the system in the existence of dynamic as well as kinematic uncertainties is studied. Using the proposed adaptive algorithm, the unknown parameters are estimated and the model based controller is applied based on the estimated parameters. The stability of the uncertain system with time delay is investigated using the Lyapunov theory and Input-to-State Stability approach. Simulation results show the appropriate performance of the presented control methodology.

引用

页码：59 / 64

页数：6

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