Adaptive-observer-based robust control for a time-delayed teleoperation system with scaled four-channel architecture

Abstract

This article presents an innovative adaptive-observer-based scaled four-channel (4-CH) control approach applying damping injection for nonlinear teleoperation systems, which unify the study of robotic dynamic uncertainties, operator/environment force acquirements and asymmetric time-varying delays in the same framework. First, a scaled 4-CH scheme with damping injection is developed to handle time-varying delay while guaranteeing the passivity of communication channels. Then, the improved extended active observer (IEAOB) is deployed to derive the operator/environment force while addressing the issues of measurement noise and model uncertainties. Furthermore, the system stability is analyzed by choosing Lyapunov functional. Finally, the proposed method is validated through simulation.

Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling

“…These results, properly extended, have been applied to a scaled four-channel scheme under time-varying delays in [ 8 ]. Also, a novel adaptive-observer-based scaled controller for four-channel systems is presented in [ 9 ] to overcome asymmetric time-varying delays.…”