A design of bilateral teleoperation systems using composite adaptive controller

被引：35
|
作者：
Kim, Byeong-Yeon [1 ]
Ahn, Hyo-Sung [1 ]
机构：
[1] Gwangju Inst Sci & Technol, Sch Mechatron, Kwangju 500712, South Korea
来源：
CONTROL ENGINEERING PRACTICE | 2013年 / 21卷 / 12期
基金：
新加坡国家研究基金会;
关键词：
Teleoperation; Parameter uncertainty; Adaptive control; Synchronization; Transparency; FPGA;
D O I：
10.1016/j.conengprac.2013.08.013
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 presents a synchronization scheme of bilateral teleoperation systems using composite adaptive controller. To design a controller for bilateral teleoperation systems, all the parameters of the master and the slave robots need to be known. However, there exist parameter uncertainties in the robot manipulators. A composite adaptive controller is designed for convergence of states and parameters of the master and the slave robots in the presence of parameter uncertainties. Consequently, position and force tracking problems in free and contact motion are solved in a synchronized manner. Through a number of simulations, the superiority of the proposed method over existing works is illustrated. Furthermore, for the validation of utility of the proposed method in an actual embedded system, the algorithms are implemented and tested in FPGA-based hardware controller. (C) 2013 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1641 / 1652
页数：12
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