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首页> 外文期刊>International Journal of Robust and Nonlinear Control >A novel adaptive robust control architecture for bilateral teleoperation systems under time-varying delays
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A novel adaptive robust control architecture for bilateral teleoperation systems under time-varying delays

机译：时变时滞下双边遥操作系统的新型自适应鲁棒控制架构

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摘要

Bilateral teleoperation technology has caused wide attentions due to its applications in various remote operation systems. The communication delay becomes one of the main challenging issues in the teleoperation control design. Meanwhile, various nonlinearities, parameter variations, and modeling uncertainties existing in manipulator and environment dynamics need to be considered carefully in order to achieve good control performance. In this paper, a globally stable nonlinear adaptive robust control algorithm is developed for bilateral teleoperation systems to deal with these control issues. Namely, the unknown dynamical parameters of the environmental force are estimated online by the improved least square adaptation law. A novel communication structure is proposed where only the master position signal is transmitted to the slave side for the tracking design, and the online estimators of the environmental parameters are transmitted from the slave to the master to replace the traditional environmental force measurement. Because the estimated environmental parameters are not power signals, the passivity problem of the communication channel and the trade-off limitation between the transparency performance and robust stability in traditional teleoperation control are essentially avoided. The nonlinear adaptive robust control is subsequently developed to deal with nonlinearities, unknown parameters, and modeling uncertainties of the master, slave, and environmental dynamics, so that the guaranteed transient and steady-state transparency performance can be achieved. The experiments on two voice-coil motor-driven manipulators are carried out, and the comparative results verify that the proposed control algorithm achieves the excellent control performance and the guaranteed robust stability simultaneously under time delays. Copyright (c) 2014 John Wiley & Sons, Ltd.
机译：双边遥操作技术由于其在各种远程操作系统中的应用而引起了广泛的关注。通信延迟成为远程操作控制设计中的主要挑战性问题之一。同时，为了获得良好的控制性能，需要仔细考虑机械手和环境动力学中存在的各种非线性，参数变化和建模不确定性。本文针对双边遥操作系统开发了一种全局稳定的非线性自适应鲁棒控制算法，以解决这些控制问题。即，通过改进的最小二乘适应定律在线估计环境力的未知动力学参数。提出了一种新颖的通信结构，在该通信结构中，仅将主位置信号发送到从设备侧进行跟踪设计，并且将环境参数的在线估计器从从设备发送到主设备，以代替传统的环境力测量。因为估计的环境参数不是功率信号，所以基本上避免了通信信道的被动性问题以及传统遥操作控制中的透明性能和鲁棒稳定性之间的折衷限制。随后开发了非线性自适应鲁棒控制，以处理非线性，未知参数以及主，从和环境动力学的建模不确定性，从而可以实现有保证的瞬态和稳态透明性。对两个音圈电机驱动的机械手进行了实验，比较结果验证了所提出的控制算法在时滞的同时实现了优异的控制性能和稳定的鲁棒稳定性。版权所有（c）2014 John Wiley＆Sons，Ltd.

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