Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics

This paper investigates the adaptive control design problem for time-delayed bilateral teleoperation systems with dynamic and kinematic uncertainties. The majority of the previous investigations in the field of teleoperation systems have only considered the dynamic uncertainties of robots. However,...

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Autores principales:	Afshin Javid, Mohammad Ali Nekoui
Formato:	article
Lenguaje:	EN
Publicado:	Taylor & Francis Group 2019
Materias:	teleoperation systems dynamic uncertainty kinematic uncertainty adaptive control input-to-state stability (iss) Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/0e4df974ba104cd59752e07757721207
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spelling	oai:doaj.org-article:0e4df974ba104cd59752e077577212072021-11-04T15:51:56ZAdaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics2331-191610.1080/23311916.2019.1631604https://doaj.org/article/0e4df974ba104cd59752e077577212072019-01-01T00:00:00Zhttp://dx.doi.org/10.1080/23311916.2019.1631604https://doaj.org/toc/2331-1916This paper investigates the adaptive control design problem for time-delayed bilateral teleoperation systems with dynamic and kinematic uncertainties. The majority of the previous investigations in the field of teleoperation systems have only considered the dynamic uncertainties of robots. However, this research studies simultaneous adaptation to both dynamic and kinematic uncertainties. In the presented adaptive control structure, the dynamic and kinematic parameters of the robots are estimated through the proposed adaptive laws and the estimated parameters are utilized to apply amodel-based control law to the teleoperation system. The stability analysis of the teleoperation system with time delay and uncertainties in both kinematic and dynamic parameters is studied based on the Input-to-State Stability (ISS) approach. Simulation results are presented to study the performance of the proposed control structure.Afshin JavidMohammad Ali NekouiTaylor & Francis Grouparticleteleoperation systemsdynamic uncertaintykinematic uncertaintyadaptive controlinput-to-state stability (iss)Engineering (General). Civil engineering (General)TA1-2040ENCogent Engineering, Vol 6, Iss 1 (2019)
institution	DOAJ
collection	DOAJ
language	EN
topic	teleoperation systems dynamic uncertainty kinematic uncertainty adaptive control input-to-state stability (iss) Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	teleoperation systems dynamic uncertainty kinematic uncertainty adaptive control input-to-state stability (iss) Engineering (General). Civil engineering (General) TA1-2040 Afshin Javid Mohammad Ali Nekoui Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics
description	This paper investigates the adaptive control design problem for time-delayed bilateral teleoperation systems with dynamic and kinematic uncertainties. The majority of the previous investigations in the field of teleoperation systems have only considered the dynamic uncertainties of robots. However, this research studies simultaneous adaptation to both dynamic and kinematic uncertainties. In the presented adaptive control structure, the dynamic and kinematic parameters of the robots are estimated through the proposed adaptive laws and the estimated parameters are utilized to apply amodel-based control law to the teleoperation system. The stability analysis of the teleoperation system with time delay and uncertainties in both kinematic and dynamic parameters is studied based on the Input-to-State Stability (ISS) approach. Simulation results are presented to study the performance of the proposed control structure.
format	article
author	Afshin Javid Mohammad Ali Nekoui
author_facet	Afshin Javid Mohammad Ali Nekoui
author_sort	Afshin Javid
title	Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics
title_short	Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics
title_full	Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics
title_fullStr	Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics
title_full_unstemmed	Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics
title_sort	adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics
publisher	Taylor & Francis Group
publishDate	2019
url	https://doaj.org/article/0e4df974ba104cd59752e07757721207
work_keys_str_mv	AT afshinjavid adaptivecontroloftimedelayedbilateralteleoperationsystemswithuncertainkinematicanddynamics AT mohammadalinekoui adaptivecontroloftimedelayedbilateralteleoperationsystemswithuncertainkinematicanddynamics
_version_	1718444694446276608

Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics

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