Adaptive Control of Teleoperation Systems with Uncertainties: A Survey

Abstract

In this paper, the control methods of nonlinear teleoperation systems are summarized, with emphasis on control techniques for solving external disturbances and system uncertainties. The dynamic model of teleoperation system, including tele-manipulators, human operator, and environments, is presented from the point of stability analysis. Various adaptive control technologies are reviewed based on enhanced synchronization tracking control performance, and their advantages and disadvantages are analyzed. The direction of further research is given. The aim of this paper is to provide a comprehensible research idea for researchers involved in the field of teleoperation control design.