TY - GEN
T1 - Adaptive robust control of bilateral teleoperation systems for synchronization in time
AU - Liu, Yanbin
AU - Sun, Weichao
AU - Chen, Zheng
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - A new control method for stability, synchronization and transparency of bilateral teleoperation systems is investigated in this paper. For the environmental force identification, the weighted least square method (WLS) is used on slave side and then the identification results are transmitted to the master side so as to simulate the environment of the slave system and build the target dynamic to achieve transparency. The states predictor on slave side is to predict the states of the master system and then the predicted results are regarded as the reference command for slave system, which leads to synchronization in time. Due to the great uncertainties, adaptive robust control (ARC) method is used for controllers design of the master and slave systems to guarantee stabilities of two teleoperators. At last, experiment results also show the good stability, synchronization and transparency of our control scheme.
AB - A new control method for stability, synchronization and transparency of bilateral teleoperation systems is investigated in this paper. For the environmental force identification, the weighted least square method (WLS) is used on slave side and then the identification results are transmitted to the master side so as to simulate the environment of the slave system and build the target dynamic to achieve transparency. The states predictor on slave side is to predict the states of the master system and then the predicted results are regarded as the reference command for slave system, which leads to synchronization in time. Due to the great uncertainties, adaptive robust control (ARC) method is used for controllers design of the master and slave systems to guarantee stabilities of two teleoperators. At last, experiment results also show the good stability, synchronization and transparency of our control scheme.
UR - https://www.scopus.com/pages/publications/85090394115
U2 - 10.1109/AIM43001.2020.9159020
DO - 10.1109/AIM43001.2020.9159020
M3 - 会议稿件
AN - SCOPUS:85090394115
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1736
EP - 1741
BT - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Y2 - 6 July 2020 through 9 July 2020
ER -