Adaptive backstepping control for sensor-less haptic joysticks with uncertainty parameters

IF 1.4 4区工程技术 Q2 ENGINEERING, MULTIDISCIPLINARY

Journal of Engineering Mathematics Pub Date : 2024-03-11 DOI:10.1007/s10665-024-10341-7

Tao Ni, Panhong Zhang, Zeren Zhao

引用次数: 0

Abstract

As a manipulation terminal for a teleoperated system, a joystick requires force sensors to accurately reproduce the haptic information, resulting in large and expensive haptic joysticks. Moreover, the actuator of the haptic joystick usually contains uncertain parameters related to its DC servo motor, making accurate haptic reproduction control a challenge. This study proposes an adaptive haptic control scheme based on the backstepping method for a haptic joystick system with unknown parameters and unmeasurable disturbances without using force sensors. In the scheme, the joystick end force is considered an unknown disturbance of the DC motor. A universal model of the joystick system actuator, i.e., a DC servo motor, and the dynamic model of the joystick are established. The control law is then derived on the basis of the established model. The stability of the closed-loop system is demonstrated analytically on the basis of the Lyapunov function. Furthermore, numerical simulation results verify the effectiveness of the proposed control scheme.

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具有不确定性参数的无传感器触觉操纵杆的自适应反步进控制

作为远程操作系统的操纵终端，操纵杆需要力传感器来精确再现触觉信息，这导致触觉操纵杆体积庞大且价格昂贵。此外，触觉操纵杆的致动器通常包含与直流伺服电机相关的不确定参数，这使得精确的触觉再现控制成为一项挑战。本研究针对具有未知参数和不可测量干扰的触觉操纵杆系统，在不使用力传感器的情况下，提出了一种基于反步进方法的自适应触觉控制方案。在该方案中，操纵杆末端力被视为直流电机的未知干扰。建立了操纵杆系统执行器（即直流伺服电机）的通用模型和操纵杆的动态模型。然后根据建立的模型推导出控制法则。根据 Lyapunov 函数，分析证明了闭环系统的稳定性。此外，数值模拟结果也验证了所提控制方案的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Engineering Mathematics 工程技术-工程：综合

CiteScore

2.10

自引率

7.70%

发文量

审稿时长

6 months

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