Robust saturation-based control of bilateral teleoperation without velocity measurements

被引：25

作者：

Zhai, Di-Hua ^{[1
]}

Xia, Yuanqing ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Key Lab Intelligent Control & Decis Complex Syst, Beijing 100081, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2015年 / 25卷 / 15期

基金：

中国国家自然科学基金;

关键词：

nonlinear teleoperation; asymmetric time-varying delay; saturation; no velocity measurements; DELAY-DEPENDENT STABILITY; NONLINEAR TELEOPERATORS; COMMUNICATION DELAY; SYSTEMS; SYNCHRONIZATION; STABILIZATION; CRITERIA; DESIGN;

D O I：

10.1002/rnc.3214

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 addresses the control design problem under no velocity measurements for nonlinear teleoperation system in the presence of asymmetric time-varying delays. Based on the proposed proportional-derivative-like controller and nonlinear-proportional-derivative-like controller, which correspond, respectively, to the actuator non-saturation and actuator saturation, the control objectives of boundedness of velocities and position tracking errors for the master robot and the slave robot are obtained. These designed controllers do not rely on the velocity signals. The effectiveness of the proposed controller are finally verified by two numerical examples. Copyright (c) 2014 John Wiley & Sons, Ltd.

引用

页码：2582 / 2607

页数：26

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