期刊
CONTROL ENGINEERING PRACTICE
卷 21, 期 12, 页码 1641-1652出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2013.08.013
关键词
Teleoperation; Parameter uncertainty; Adaptive control; Synchronization; Transparency; FPGA
资金
- National Research Foundation of Korea (NRF) [NRF-2013M2A8A1051065]
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.
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