Статья

Adaptive control of time delay teleoperation system with uncertain dynamics

Siyu LuSchool of Automation, University of Electronic Science and Technology of China, Chengdu, ChinaYuxi BanSchool of Automation, University of Electronic Science and Technology of China, Chengdu, ChinaXia ZhangSchool of Automation, University of Electronic Science and Technology of China, Chengdu, ChinaBo YangSchool of Automation, University of Electronic Science and Technology of China, Chengdu, ChinaShan LiuSchool of Automation, University of Electronic Science and Technology of China, Chengdu, ChinaLirong YinDepartment of Geography and Anthropology, Louisiana State University, Baton Rouge, LA, United StatesWenfeng ZhengSchool of Automation, University of Electronic Science and Technology of China, Chengdu, China

2022en

ABI

Аннотация

A bilateral adaptive control method based on PEB control structure is designed for a class of time-delay force feedback teleoperation system without external interference and internal friction to study the uncertainty of dynamic parameters and time delay. The stability and tracking performances of the closed-loop constant time delay teleoperation system are analyzed by Lyapunov stability theory. Finally, the controller designed in this paper is successfully applied to the teleoperation system composed of a two-degree of freedom rotating manipulator as the master robot and the slave robot. The simulation is carried out in no operator and environment force or with operator and environment force. The adaptive bilateral control method's control performance is compared with that of the traditional time-delay teleoperation system. Finally, it is verified that the method has good control performance.

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Идентификаторы

DOI: 10.3389/fnbot.2022.928863

Цитирования и источники

Цитирований: 2Использованных источников: 0

Показатели — AkademScholar