Passivity-Based Bilateral Tele-Driving System With Parametric Uncertainty and Communication Delays

摘要

In this letter, a new bilateral tele-driving control design is proposed to enable a human driver to tele-drive a car-like mobile robot with haptic feedback. In the presence of communication delays and dynamic parametric uncertainties, a passivity-based adaptive control algorithm is designed to achieve scaled coordination between a local and a remote robot. The efficacy of the proposed control scheme is verified through numerical simulations.