This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. First,an impedance control is designed for the master robot. Second,an adaptive i...This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. First,an impedance control is designed for the master robot. Second,an adaptive inverse control is proposed for the slave robot. Finally,the slave side controller is modified such that the robust stability and performance are achieved. In addition,robust stability analysis has been performed and optimal behavior is ensured by using standard characteristic polynomials. It is shown that despite of presence of randomly-varying time delay,the proposed control algorithm compensates the position drifts efficiently. Demonstrable simulation studies confirm the effectiveness of the proposed control system and its advantages over the existing sliding mode control strategies.展开更多
One of the main issues in teleoperator is control of master-slave teleoperator.A num-ber of control methodologies have been proposed in teleoperator literature.Recently,literature has focussed on general teleoperator ...One of the main issues in teleoperator is control of master-slave teleoperator.A num-ber of control methodologies have been proposed in teleoperator literature.Recently,literature has focussed on general teleoperator architectures analysis of stability,and sev-eral general teleoperator architectures have been proposed.展开更多
文摘This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. First,an impedance control is designed for the master robot. Second,an adaptive inverse control is proposed for the slave robot. Finally,the slave side controller is modified such that the robust stability and performance are achieved. In addition,robust stability analysis has been performed and optimal behavior is ensured by using standard characteristic polynomials. It is shown that despite of presence of randomly-varying time delay,the proposed control algorithm compensates the position drifts efficiently. Demonstrable simulation studies confirm the effectiveness of the proposed control system and its advantages over the existing sliding mode control strategies.
文摘One of the main issues in teleoperator is control of master-slave teleoperator.A num-ber of control methodologies have been proposed in teleoperator literature.Recently,literature has focussed on general teleoperator architectures analysis of stability,and sev-eral general teleoperator architectures have been proposed.
