An adaptive controller for nonlinear teleoperators with variable time-delays

Sarras, Ioannis; Nuño, Emmanuel; Basañez, Luis

doi:10.1016/j.jfranklin.2014.07.016

Cited by 45 publications

(51 citation statements)

References 29 publications

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“…Compared to the existing works [5,13,19], the proposed control scheme guarantees the convergence of parameters to their true values, while the condition of PE is not required. This is accomplished by the boundedness of the matrix in the new-defined prediction error .…”

Section: Remarkmentioning

confidence: 99%

“…A straightforward choice of the adaptive laẇ= Γ was first proposed by Slotine and Li [17] and has been widely used in adaptive control of teleoperation systems [2,5,13]. However, it is pointed out that this adaptive law cannot guarantee accurate estimations of parameters.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

“…In order to solve this problem, a variety of control schemes have been proposed in the literature. The breakthrough work on bilateral teleoperation problem was achieved in [1], in which the concepts from network theory, passivity, and scattering theory were used to analyze the stability of the controlled teleoperation systems [2], and then the master-slave synchronization and stability analysis of teleoperation systems with various kinds of time delays, such as constant delays [1], time-varying delays [3][4][5][6][7][8], or stochastic delays [9][10][11], have been hot topics in the study of teleoperation systems.…”

Section: Introductionmentioning

confidence: 99%

“…In [13], an adaptive controller for teleoperators with time delays, which ensures synchronization of positions and velocities of the master and slave manipulators and does not rely on the use of the ubiquitous scattering transformation, was proposed. Based on [13], two versions of adaptive controllers for nonlinear bilateral teleoperators were proposed in [5]. The authors in [14] proposed a novel adaptive control framework for 2 Mathematical Problems in Engineering nonlinear teleoperation systems with dynamic and kinematic uncertainties and time-varying time delays.…”

Section: Introductionmentioning

confidence: 99%

“…The authors in [14] proposed a novel adaptive control framework for 2 Mathematical Problems in Engineering nonlinear teleoperation systems with dynamic and kinematic uncertainties and time-varying time delays. Unfortunately, one of the drawbacks of adaptive controllers proposed in [5,13,14] is that the parameter estimates are not guaranteed to converge to the true parameters. It is well known that the convergence of the parameters to their true values can improve system performance with accurate online identification, exponential tracking, and robust adaptation without parameter drift.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Adaptive Control of Delayed Teleoperation Systems with Parameter Convergence

Yin

Zhang

2018

Mathematical Problems in Engineering

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It is well known that parameter convergence in adaptive control can bring about an improvement of system performance, including accurate online identification, exponential tracking, and robust adaptation without parameter drift. However, strong persistentexcitation (PE) or sufficient-excitement (SE) conditions should be satisfied to guarantee parameter convergence in the classical adaptive control. This paper proposes a novel adaptive control to guarantee parameter convergence without PE and SE conditions for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays. The stability criterion of the closed-loop teleoperation system is given in terms of linear matrix inequalities. The effectiveness of this approach is illustrated by simulation studies, where both master and slave are assumed to be two-link manipulators with full nonlinear system dynamics.

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Section: Remarkmentioning

confidence: 99%

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive Control of Delayed Teleoperation Systems with Parameter Convergence

Yin

Zhang

2018

Mathematical Problems in Engineering

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Adaptive finite‐time control for nonlinear teleoperation systems with asymmetric time‐varying delays

Zhai

Xia

2015

Intl J Robust & Nonlinear

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SUMMARYThis paper addresses the adaptive finite-time control problem of nonlinear teleoperation system in the presence of asymmetric time-varying delays. To achieve the finite-time position tracking, a novel adaptive finite-time coordination algorithm based on subsystem decomposition is developed. By introducing a switching-technique-based error filtering into our design framework, the complete closed-loop master (slave) teleoperation system is modeled as a special class of switched system, which is composed of two subsystems. To analyze such system, a finite-time state-independent input-to-output stability criterion is first developed for some normal switched nonlinear delayed systems. Then based on the classical LyapunovKrasovskii method, the stability of complete closed-loop systems is obtained. It is shown that the proposed scheme can make the position errors converge into a deterministic domain in finite time when the robots continuously contact with human operator and/or the environment in the presence of asymmetric time-varying delays. Finally, the simulation results are given to demonstrate the effectiveness.

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