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Adaptive-observer-based robust control for a time-delayed teleoperation system with scaled four-channel architecture

Published online by Cambridge University Press:  03 September 2021

Linping Chan Open the ORCID record for Linping Chan [Opens in a new window] ,
Qingqing Huang  and
Ping Wang
Linping Chan*
Affiliation:
Automation College, Chongqing University of Posts and Telecommunications, Chongqing, 400065, China
Qingqing Huang
Affiliation:
Automation College, Chongqing University of Posts and Telecommunications, Chongqing, 400065, China
Ping Wang
Affiliation:
Automation College, Chongqing University of Posts and Telecommunications, Chongqing, 400065, China
*
*Corresponding author. E-mail: [email protected]
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Abstract

This article presents an innovative adaptive-observer-based scaled four-channel (4-CH) control approach applying damping injection for nonlinear teleoperation systems, which unify the study of robotic dynamic uncertainties, operator/environment force acquirements and asymmetric time-varying delays in the same framework. First, a scaled 4-CH scheme with damping injection is developed to handle time-varying delay while guaranteeing the passivity of communication channels. Then, the improved extended active observer (IEAOB) is deployed to derive the operator/environment force while addressing the issues of measurement noise and model uncertainties. Furthermore, the system stability is analyzed by choosing Lyapunov functional. Finally, the proposed method is validated through simulation.

Keywords

Bilateral teleoperationScaled 4-CH teleoperationImproved extended active observerDamping injectionModel uncertaintyTime-varying delay
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1385 - 1405
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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