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首页> 外文期刊>International Journal of Innovative Computing Information and Control >ADAPTIVE CONTROL OF BILATERAL TELEOPERATION WITH UNSYMMETRICAL TIME-VARYING DELAYS
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ADAPTIVE CONTROL OF BILATERAL TELEOPERATION WITH UNSYMMETRICAL TIME-VARYING DELAYS

机译：时变不对称时的双边遥操作自适应控制

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摘要

In this paper, adaptive control is proposed for master-slave teleoperation systems with dynamical uncertainties and unsymmetric time-varying delays in communication channels. With the technique of force-motion transformation based on impedance model, we can convert the objective of force reflection into motion synchronization. Using partial feedback linearization, the whole teleoperation dynamics including both master and slave robots are transformed into two subsystems. Then, a novel adaptive control is proposed to deal with the unsymmetric time-varying delays and the dynamical uncertainties. The stability of two subsystems is proved with LMIs (linear matrix inequalities) based on Lyapunov stability synthesis. Extensive simulations and experiments are conducted to validate the effectiveness of the proposed control and illustrate the performance under this control law.
机译：本文提出了一种具有动态不确定性和通信信道时变时滞不对称的主从远程操作系统的自适应控制方法。借助基于阻抗模型的力运动转换技术，我们可以将力反射的目标转换为运动同步。使用部分反馈线性化，将包括主机器人和从属机器人在内的整个远程操作动力学转换为两个子系统。然后，提出了一种新颖的自适应控制方法来处理不对称时变时滞和动力学不确定性问题。基于Lyapunov稳定性综合的LMI（线性矩阵不等式）证明了两个子系统的稳定性。进行了广泛的仿真和实验，以验证所提出控制的有效性，并说明了该控制律下的性能。

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    Zhijun Li; Yuanqing Xia; Xiaoqing Cao;

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    College of Automation Science and Engineering South China University of Technology No. 381, Wushan Road, Tianhe District, Guangzhou 510640, P. R. China,Department of Automation Shanghai Jiao Tong University No. 800, Dongchuan Road, Shanghai 200240, P. R. China;

    Department of Automatic Control Beijing Institute of Technology No. 5, South Zhongguancun Street, Haidian District, Beijing 100081, P. R. China;

    Department of Automation Shanghai Jiao Tong University No. 800, Dongchuan Road, Shanghai 200240, P. R. China;

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