Robust Adaptive Inverse Controller Design for Position Tracking in Teleoperation Systems

摘要

This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. In this approach, using the Smith predictor idea, an impedance controller and an adaptive inverse controller are designed, respectively, for the master and slave robots such that the stability and performance of the closed-loop system are achieved in the presence of communication channels time delay. Also, based on robust control theory, two sufficient conditions for the stability of overall system are derived. The time domain desired specifications are contained in the design problem using the standard characteristic polynomials. The simulation results show the proposed approach successfully compensates the position drift although time delay is randomly varying.