Robust adaptive control for bilateral teleoperation systems with guaranteed parameter estimation
Robust adaptive control for bilateral teleoperation systems with guaranteed parameter estimation
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DOI：
10.1109/icarm.2016.7606890
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Baorui Jing;J. Na;Guanbin Gao;Chenguang Yang
中科院分区：
文献类型：
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作者：
Baorui Jing;J. Na;Guanbin Gao;Chenguang Yang
自适应控制最近已扩展到双边遥操作，以同步本地和远程位置和速度。然而，精确的参数估计还没有实现通过传统的适应。本文提出了一种改进的遥操作系统自适应控制方法，通过引入一种新的自适应律，它使用的参数误差作为新的泄漏项。因此，我们证明了位置和速度同步和参数估计可以同时实现。研究发现，参数估计收敛有助于提高运动同步性。仿真结果验证了该方法的可行性和有效性。
Adaptive control has recently been extended to bilateral teleoperators to synchronize the local and remote positions and velocities. However, precise parameter estimation has not been achieved via conventional adaptations. In this paper, we propose an modified adaptive control method for teleoperation systems by introducing a new adaptive law, which uses the parameter error as new leakage terms. Consequently, we prove that the position and velocity synchronization and the parameter estimation can be achieved simultaneously. It is found that the parameter estimation convergence can help to improve the motion synchronization. Simulation results validate the feasibility and efficacy of the proposed method.