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Adaptive Position and Force Tracking Control in Teleoperation System with Time-Varying Delays

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11741))

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Abstract

In this work, a novel position and force tracking control scheme are proposed in teleoperation system under time-varying delay and uncertain dynamics. First, two new auxiliary variables are designed for the master controller and slave controller. Second, the adaptive control laws based on Radial Basis Function (RBF) neural network are proposed. Then, the Lyapunov theory is used to verify the stability of the closed-loop teleoperation system. The main contribution of this work is the position error, position error integral, and force error are introduced into the auxiliary variable for the controller design to obtain the better position and force tracking effect. Finally, the system with the proposed control method is simulated to show effectiveness.

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Acknowledgments

This work is supported in part by the National Key Research and Development Program of China under Grant No.2016YFB1001301, in part by the National Natural Science Foundation of China under Grant No.91648206 and No. U1713210.

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Authors and Affiliations

  1. State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, 210096, People’s Republic of China

    Haochen Zhang, Aiguo Song & Huijun Li

  2. College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, 730050, People’s Republic of China

    Haochen Zhang

Authors
  1. Haochen Zhang
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  2. Aiguo Song
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  3. Huijun Li
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Corresponding author

Correspondence to Aiguo Song .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Zhang, H., Song, A., Li, H. (2019). Adaptive Position and Force Tracking Control in Teleoperation System with Time-Varying Delays. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_54

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  • DOI: https://doi.org/10.1007/978-3-030-27532-7_54

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  • Online ISBN: 978-3-030-27532-7

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