Existing work concerning adaptive control of uncertain teleoperation systems only deals with linearly parameterized (LP) dynamic uncertainties. Typical teleoperation system dynamics, however, also posses terms with nonlinearly parameterized (NLP) structures. An example of such terms is friction, which is ubiquitous in the joints of the master and slave robots of practical teleoperation systems. Uncertainties in the NLP dynamic terms may lead to significant position and force tracking errors if not compensated for in the control scheme. In this paper, adaptive controllers are designed for the master and slave robots with both LP and NLP dynamic uncertainties. Next, these controllers are incorporated into the 4-channel bilateral teleoperation control framework to achieve transparency. Then, transparency of the overall teleoperation is studied via a Lyapunov function analysis. Simulation studies demonstrate the effectiveness of the proposed adaptive scheme when exact knowledge of the LP and NLP dynamics is unavailable.
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March 2012
Research Papers
Adaptive Control of Teleoperation Systems With Linearly and Nonlinearly Parameterized Dynamic Uncertainties
Xia Liu,
Xia Liu
School of Automation Engineering, University of Electronic Science and Technology of China
, Chengdu, Sichuan 611731, China
; Department of Electrical and Computer Engineering, University of Alberta
, Edmonton, AB, T6G 2V4, Canada
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Mahdi Tavakoli
Mahdi Tavakoli
Department of Electrical and Computer Engineering,
University of Alberta
, Edmonton, AB, T6G 2V4, Canada
e-mail:
Search for other works by this author on:
Xia Liu
School of Automation Engineering, University of Electronic Science and Technology of China
, Chengdu, Sichuan 611731, China
; Department of Electrical and Computer Engineering, University of Alberta
, Edmonton, AB, T6G 2V4, Canada
e-mail:
Mahdi Tavakoli
Department of Electrical and Computer Engineering,
University of Alberta
, Edmonton, AB, T6G 2V4, Canada
e-mail: J. Dyn. Sys., Meas., Control. Mar 2012, 134(2): 021015 (10 pages)
Published Online: January 12, 2012
Article history
Received:
September 23, 2010
Revised:
July 18, 2011
Published:
January 11, 2012
Online:
January 12, 2012
Citation
Liu, X., and Tavakoli, M. (January 12, 2012). "Adaptive Control of Teleoperation Systems With Linearly and Nonlinearly Parameterized Dynamic Uncertainties." ASME. J. Dyn. Sys., Meas., Control. March 2012; 134(2): 021015. https://doi.org/10.1115/1.4005049
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