An adaptive controller for nonlinear teleoperators
An adaptive controller for nonlinear teleoperators
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DOI：
10.1016/j.automatica.2009.10.026
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发表时间：
2010-01-01
期刊：
影响因子：
6.4
通讯作者：
Basanez, Luis
中科院分区：
文献类型：
--
作者：
Nuno, Emmanuel;Ortega, Romeo;Basanez, Luis
在Chopra等人（2008年）中，[Chopra，N.，Spong，M。W.和Lozano，R。（2008）。双边远程操作员与时间延迟同步。 Automatica，44（8），2142-2148]，一种适用于Time-Delays的自适应控制器，可确保主人和奴隶操纵器的位置和速度同步，并且不依赖于使用无处不在的散射转换建议的。在本文中，表明该控制器倾向于将重力力为非零的关节位置驱动到零。因此，该方案通常仅适用于无重力的系统。我们在本文中还证明，通过其错误，可以消除这种限制的位置和速度（用于协调扭矩和适应定律）的位置和速度。仿真结果说明了这两种方案的性能。 （c）2009 Elsevier Ltd.保留所有权利。
In Chopra et al (2008) [Chopra, N., Spong, M. W., & Lozano, R. (2008). Synchronization of bilateral teleoperators with time-delay. Automatica, 44(8), 2142-2148], an adaptive controller for teleoperators with time-delays, which ensures synchronization of positions and velocities of the master and slave manipulators, and does not rely on the use of the ubiquitous scattering transformation, is proposed. In this paper it is shown that this controller will tend to drive to zero the positions of the joints where gravity forces are non-zero. Hence, the scheme is, in general, applicable only to systems without gravity. We also prove in this paper that this limitation can be obviated, replacing the positions and velocities - that are used in the coordinating torques and the adaptation laws - by their errors. Simulation results illustrate the performance of both schemes. (C) 2009 Elsevier Ltd. All rights reserved.