Bilateral teleoperation systems are widely used to compensate for image spin and in many other applications. Good transparency (position tracking and force feedback) is an important performance index in the control design of bilateral teleoperation systems. This study aims to achieve good transparency for teleoperation systems using force sensorless by proposing an alternative to direct force measurement. Our proposed method is a finite‐time adaptive sliding‐mode‐assisted disturbance observer, which combines disturbance observer with adaptive sliding mode control. The finite‐time stability of adaptive sliding‐mode‐assisted disturbance observer is analysed using the Lyapunov theory. Moreover, a bilateral control law based on adaptive sliding‐mode‐assisted disturbance observer is designed. The proposed method not only improves the system transparency with both force feedback and position tracking, but is also chatter‐free. Experiments are conducted using bilateral brushless DC motors in an experimental setup to demonstrate the effectiveness of the proposed method.
Tidal phenomenon is a significant dynamical phenomenon in the ocean, and the accurate prediction of tide is an important task for various maritime activities. This paper proposes analysis method considering tidal periodicity and apply it to the actual tide prediction. The results prove that this method can solve the delay problem in tide prediction, improve the accuracy of prediction. Compared with the tidal harmonic analysis method, the prediction result of this method is more accurate and requires less data for short-term tidal forecast. Although this study can only provide an accurate forecast for 3 days, it is enough to deal with risks. How to improve the accuracy of long-term prediction is one of the future research directions.
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