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首页> 外文期刊>International journal of systems science >Nonlinear adaptive control for teleoperation systems with symmetrical and unsymmetrical time-varying delay
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Nonlinear adaptive control for teleoperation systems with symmetrical and unsymmetrical time-varying delay

机译：具有对称和不对称时变时滞的遥操作系统的非线性自适应控制

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摘要

The stability and trajectory tracking control problem of passive teleoperation systems with the presence of the symmetrical and unsymmetrical time-varying communication delay is addressed in this paper. The proposed teleoperator is designed by coupling local and remote sites by delaying position signals of the master and slave manipulator. The design also comprises local proportional and derivative signals with nonlinear adaptive terms to cope with parametric uncertainty associated with the master and slave dynamics. The Lyapunov-Krasovskii function is employed to establish stability conditions for the closed-loop teleoperators under both symmetrical and unsymmetrical time-varying communication delay. These delay-dependent conditions allow the designer to estimate the control gains a priori in order to achieve asymptotic property of the position, velocity and synchronisation errors of the master and slave systems. Finally, simulation results along with comparative studies are presented to illustrate the effectiveness of the proposed method.
机译：本文研究了存在对称和不对称时变通信时延的无源遥操作系统的稳定性和轨迹跟踪控制问题。所提出的遥控操纵器是通过延迟主操纵器和从操纵器的位置信号来耦合本地站点和远程站点而设计的。该设计还包括带有非线性自适应项的局部比例和微分信号，以应对与主从动态相关的参数不确定性。利用Lyapunov-Krasovskii函数为对称和不对称时变通信时延下的闭环遥操作员建立稳定性条件。这些依赖于延迟的条件允许设计人员先验估计控制增益，以实现主，从系统位置，速度和同步误差的渐近特性。最后，仿真结果与比较研究一起说明了该方法的有效性。

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