Abstract
A new adaptive tracking control problem of a nonlinear teleoperation system is considered in this article, which differs from the previous ones in that both kinematics and dynamics of manipulators are uncertain and perturbation of the actuator parameters exists due to overheating of the actuator. To overcome the first which is also the key problem, we propose a new adaptive tracking control framework which additionally contains a neural network mechanism and a robust adaptive mechanism. Based on the framework, an adaptive controller is further established to compensate for the perturbation of the actuator parameters online. By employing the neural networks and adaption method in control design, an extended teleoperation control system is effectively accommodated. With the Lyapunov theory, the tracking error is shown to converge to a residual around zero as the time goes to infinity. The effectiveness of the proposed scheme has been verified in the physical platform.
Highlights
In recent years, research of bilateral control for nonlinear teleoperation system has collected much attention over the last decades due to its various applications such as disaster rescue, undersea exploration, surveillance, and data acquisition, as observed in the literature.[1,2,3,4,5,6,7,8] Lee and Spong[1] defined a control framework and proposed a position feedback approach for bilateral teleoperation with a proportional– derivative (PD) controller
Note that the scattering-based methods cannot guarantee position tracking in the presence of time delay, which is a tedious task
As a matter of fact, it is still a challenging and unsolved problem to ensure the performance of the teleoperation system with uncertain kinematics, dynamics, and actuator model
Summary
Research of bilateral control for nonlinear teleoperation system has collected much attention over the last decades due to its various applications such as disaster rescue, undersea exploration, surveillance, and data acquisition, as observed in the literature.[1,2,3,4,5,6,7,8] Lee and Spong[1] defined a control framework and proposed a position feedback approach for bilateral teleoperation with a proportional– derivative (PD) controller. As a matter of fact, it is still a challenging and unsolved problem to ensure the performance of the teleoperation system with uncertain kinematics, dynamics, and actuator model Motivated by such an observation, in this article, we propose an adaptive controller for tracking control of a teleoperation system. One of the major difficulties that obstruct the implementation of the proposed scheme is how to ensure the control performance of a teleoperation system with uncertain kinematics, dynamics, and actuator model To remove this obstacle, NNs are designed so that the kinematic and dynamic uncertainties can be handled. We present the proposed tracking controller as follows ui(t) =À T^iÀ1ti + T^iÀ1Ya, i(ti)a^a, i ð11Þ where T^i 2 Rn 3 n denotes the approximate transmission matrix and the second is an estimated dynamic compensation term. The ATmega[64] acts as the chipset of the driving board, and it has three important functions: first, it collects the real-time data through a set of sensors, for example, the angle velocity q_ i from MPU6050 via an serial peripheral interface (SPI) bus; second, it receives the control commands from the main control board through an RS232 interface with 115,200 bps; the driving board runs the proportion–differentiation (PD) control algorithm such that the motor speed converges to the desired control speed
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