Adaptive control for position and force tracking of uncertain teleoperation with actuators saturation and asymmetric varying time delays

IF 1.4 4区工程技术 Q2 ENGINEERING, MULTIDISCIPLINARY

International Journal of Nonlinear Sciences and Numerical Simulation Pub Date : 2022-10-19 DOI:10.1515/ijnsns-2021-0429

M. Pourseifi, S. Rezaei

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引用次数: 2

Abstract

Abstract This paper presents a new bounded force feedback control law to improve transparency in nonlinear bilateral teleoperation systems in the presence of three problems in practical applications of teleoperation systems such as input saturation, asymmetric time varying communication delays with no restriction on their rates of variation and parametric uncertainties, simultaneously. The proposed controller is a nonlinear-proportional plus nonlinear damping (nP + nD) controller with the addition of a nonlinear adaptive term and nonlinear function of the environment force on the slave side and nonlinear function of the human force and force error on the master side. Using a novel Lyapunov–Krasovskii functional, the asymptotic stability and position and force tracking performance of the teleoperation system are established under specific conditions on the controller parameters, actuator saturation characteristics and maximum allowable time delay. The validity of the theoretical results is corroborated by the simulation results.

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具有饱和和不对称变时滞的不确定遥操作位置和力跟踪的自适应控制

摘要针对遥操作系统实际应用中存在的输入饱和、非对称时变通信时延无变化率限制和参数不确定性等问题，提出了一种新的有界力反馈控制律，以提高非线性双边遥操作系统的透明度。所提出的控制器是一种非线性比例加非线性阻尼(nP + nD)控制器，在从侧增加了非线性自适应项和环境力的非线性函数，在主侧增加了人为力和力误差的非线性函数。利用一种新颖的Lyapunov-Krasovskii泛函，在给定控制器参数、执行器饱和特性和最大允许时延的特定条件下，建立了遥操作系统的渐近稳定性和位置力跟踪性能。仿真结果验证了理论结果的有效性。

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

International Journal of Nonlinear Sciences and Numerical Simulation 工程技术-工程：综合

CiteScore

2.80

自引率

6.70%

发文量

117

审稿时长

13.7 months

期刊介绍： The International Journal of Nonlinear Sciences and Numerical Simulation publishes original papers on all subjects relevant to nonlinear sciences and numerical simulation. The journal is directed at Researchers in Nonlinear Sciences, Engineers, and Computational Scientists, Economists, and others, who either study the nature of nonlinear problems or conduct numerical simulations of nonlinear problems.