The Adaptive Bilateral Control of Underwater Manipulator Teleoperation System with Uncertain Parameters and External Disturbance

Abstract

A novel self-adaptive bilateral control strategy is introduced to manage uncertainties inherent in the teleoperation of an underwater manipulator system effectively. In response to uncertainties stemming from both the mathematical model and external disturbances, our approach offers innovative solutions. Firstly, to address uncertainties in the master model parameters, we propose a reference adaptive impedance control based on a nominal model. This control strategy dynamically adjusts the reference position of the desired model, leveraging adaptive control laws to compensate for model uncertainties. Additionally, to tackle uncertainties specific to the slave manipulator, we employ adaptive compensation using radial basis function (RBF) networks. Our unique combination of sliding mode variable structure controllers and robust adaptive controllers aims to mitigate approximation errors, ensuring precise tracking of the master manipulator’s position by the slave manipulator. By employing Lyapunov function analysis, we demonstrate the system’s superior tracking performance and global stability, with assured asymptotic convergence for force–position tracking. Through comprehensive experimentation, our results showcase the exceptional force–position tracking capabilities of the overall control system, even under challenging conditions of model uncertainties and external disturbances. Moreover, our system exhibits remarkable stability, reliability, and robustness, underscoring the effectiveness of our proposed adaptive control approach.

Robust Adaptive-Sliding-Mode Control for Teleoperation Systems with Time-Varying Delays and Uncertainties

“…In [31], a type-2 fuzzy-based observer was introduced to estimate external force/torque information and simultaneously filter out system disturbances. In [32], an adaptive bilateral control strategy was introduced for underwater manipulator teleoperation, with adaptive RBF network compensation for slave-manipulator uncertainties. In [33], a radial basis function-neural network-based-sliding-mode-control design was developed for nonlinear bilateral teleoperation system with transmission delays and uncertainties.…”

Development of a Control System for Underwater Vehicles with Multilink Manipulators Performing Contact Manipulation Operations

“…Adaptive methods of impedance control of underwater manipulators were presented in [24,25], and in [25], a control system was built for a remote-controlled manipulator performing a contact operation. Both systems were investigated using computer modeling and showed high efficiency.…”

“…In turn, the effectiveness of the control system developed in [26] was investigated during a basin experiment taking into account underwater currents. However, in these works [24][25][26], the bases of the manipulators were fixed while performing contact operations, and, accordingly, the inevitable deviations of the AUV from the stabilization point, which affect the quality of manipulation operations, were not taken into account.…”