Adaptive Control for Bilateral Teleoperation Systems with Time-Varying Delays

被引：0
|
作者：
Chang, Yeong-Hwa [1 ]
Yang, Cheng-Yuan [1 ]
Lin, Hung-Wei [2 ]
机构：
[1] Chang Gung Univ, Dept Elect Engn, Taoyuan 333, Taiwan
[2] Lee Min Inst Technol, Dept Elect Engn, New Taipei, Taiwan
来源：
PROCEEDINGS OF 4TH IEEE INTERNATIONAL CONFERENCE ON APPLIED SYSTEM INNOVATION 2018 ( IEEE ICASI 2018 ) | 2018年
关键词：
Teleoperation system; sliding-mode control; time delays; adaptive control; SYNCHRONIZATION; NETWORKS;
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：
This paper presents a sliding-mode based controller for teleoperation systems with unknown uncertainties and time-varying delays. Adaptive laws are proposed to deal with the unknown but bounded uncertainties. Moreover, the allowable bound of delays can be obtained by solving a linear matrix inequality. By Lyapunov-Krasovskii functional analysis, the closed-loop stability is guaranteed. Both simulation and experimental results are provided for performance validations and comparisons. It is indicated that the proposed adaptive control scheme can provide better position tracking and force perception for master-slave teleoperation systems.
引用
收藏
页码：1111 / 1114
页数：4
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