Journal
FRONTIERS IN NEUROROBOTICS
Volume 16, Issue -, Pages -Publisher
FRONTIERS MEDIA SA
DOI: 10.3389/fnbot.2022.928863
Keywords
adaptive bilateral control method; Lyapunov stability theory; time delay teleoperation system; uncertain dynamics; force feedback; PEB control structure
Funding
- Sichuan Science and Technology Program [2021YFQ0003]
Ask authors/readers for more resources
In this paper, a bilateral adaptive control method based on PEB control structure is proposed 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 using Lyapunov stability theory. The simulation results show that the proposed method has good control performance.
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.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available