Abstract
It is well known that parameter convergence in adaptive control can bring about an improvement of system performance, including accurate online identification, exponential tracking, and robust adaptation without parameter drift. However, strong persistent-excitation (PE) or sufficient-excitement (SE) conditions should be satisfied to guarantee parameter convergence in the classical adaptive control. This paper proposes a novel adaptive control to guarantee parameter convergence without PE and SE conditions for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays. The stability criterion of the closed-loop teleoperation system is given in terms of linear matrix inequalities. The effectiveness of this approach is illustrated by simulation studies, where both master and slave are assumed to be two-link manipulators with full nonlinear system dynamics.
Highlights
Bilateral teleoperation systems are one of the most wellknown time-delay systems which allow a human operator to extend his/her intelligence and manipulation skills to the remote environments
This paper proposes a novel adaptive control to guarantee parameter convergence without PE and SE conditions for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays
A typical teleoperation system is composed of five parts: human operator, master, communication channel, slave, and task environment
Summary
Bilateral teleoperation systems are one of the most wellknown time-delay systems which allow a human operator to extend his/her intelligence and manipulation skills to the remote environments. It is well known that the convergence of the parameters to their true values can improve system performance with accurate online identification, exponential tracking, and robust adaptation without parameter drift These features are not guaranteed unless a condition of persistent excitation (PE) is satisfied [15]. Motivated by the above concerns, in this paper, a new adaptive controller is designed for teleoperation systems with time-varying delays, and the convergence of parameters to their true values is achieved, which gives rise to an improvement of system performance. As the sets {f : [0, ∞) → Rn, ‖f‖2 < ∞}, respectively
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