Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics
نویسندگان
چکیده
منابع مشابه
Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation
In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in case of contact. When bilateral teleoperation is introduced to the field of medicine, a new challenge a...
متن کاملAdaptive Control of Bilateral Teleoperation with Unsymmetrical Time-varying Delays
In this paper, adaptive control is proposed for master-slave teleoperation systems with dynamical uncertainties and unsymmetric time-varying delays in communication channels. With the technique of force-motion transformation based on impedance model, we can convert the objective of force reflection into motion synchronization. Using partial feedback linearization, the whole teleoperation dynami...
متن کاملAdaptive Control of Bilateral Teleoperation with Time Delay
This paper presents model-based predictive controllers that achieve a high level of transparency while maintaining stability in bilateral teleoperation under known constant or variable time delay. This goal is accomplished by utilizing available information on system model and time delay within an adaptive predictive control framework. The performance objectives are delay-free position tracking...
متن کاملDelayed Generalized Predictive Control of Bilateral Teleoperation Systems
This paper presents a Delayed Generalized Predictive Controller (DGPC) by internal model for bilateral teleoperation systems in the presence of both communication delays and force feedback. First, the Π-freeness algebraic property of mechanical delayed systems, which presents some similarity with the notion of flatness, is used for the slave system to track a master system reference trajectory;...
متن کاملAdaptive Inverse Dynamics Four-Channel Control of Uncertain Nonlinear Teleoperation Systems
Most of the methods to date on bilateral control of nonlinear teleoperation systems lead to nonlinear and coupled closed-loop dynamics even in the ideal case of perfect knowledge of the master, the slave, the human operator and the environment. Consequently, the transparency of these closed-loop systems is difficult to study. In comparison, inverse dynamics controllers can deal with the nonline...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Cogent Engineering
سال: 2019
ISSN: 2331-1916
DOI: 10.1080/23311916.2019.1631604