An Adaptive Controller for Bilateral Teleoperation Systems with Uncertain Kinematics and Dynamics

摘要

In this study, the controller design problem for teleoperation system with time delay and uncertainty will be investigated. In most of current studies, only the dynamic uncertainties of robots have been investigated. However, in this paper, the control design problem of the system in the existence of dynamic as well as kinematic uncertainties is studied. Using the proposed adaptive algorithm, the unknown parameters are estimated and the model based controller is applied based on the estimated parameters. The stability of the uncertain system with time delay is investigated using the Lyapunov theory and Input-to-State Stability approach. Simulation results show the appropriate performance of the presented control methodology.