A new impedance and robust adaptive inverse control approach for a teleoperation system with varying time delay
A new impedance and robust adaptive inverse control approach for a teleoperation system with varying time delay作者机构：Electrical and Electronic Engineering Department Shiraz University of TechnologyShiraz Iran Electrical Engineering Department Faculty of Engineering Tarbiat Modares UniversityTehran Iran
出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)
年 卷 期：2009年第52卷第9期
页 面：2629-2643页
核心收录：
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
主 题：teleoperation bilateral force feedback adaptive inverse control time delay system
摘 要：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.
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