A dual-user teleoperation system with symmetric time-varying delay

被引：0
|
作者：
Ji, Yude [1 ]
Liu, Danyang [1 ]
Ma, Xitong [1 ]
机构：
[1] Hebei Univ Sci & Technol, Coll Sci, Shijiazhuang 050018, Hebei, Peoples R China
来源：
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年
关键词：
Dual-user teleoperation; Tune-varying delay; Coordinate tasks; Adaptive update law; BILATERAL TELEOPERATION; CONVERGENCE; FRAMEWORK;
D O I：
10.23919/chicc.2019.8865855
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Remote robots in bilateral teleoperation systems are utilized to accomplish various missions in different locations. This paper proposes an adaptive method for a dual-user teleoperation system with symmetric time-varying delay. The n-DOF nonlinear manipulator is used as a master device and a slave device to perform coordinated tasks, and we used a passive spring damper system to model the applied external force. We demonstrate the stability of the system by using the new L.yapunov-Krasovskii function. The results show that the error of the dual-user teleoperation system converges to zero under the action of the controller designed in this paper. Finally, an example is given to verify the accuracy and validity of the main results.
引用
收藏
页码：2507 / 2512
页数：6
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