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Robust Adaptive Control Scheme for Teleoperation Systems with Delay and Uncertainties
journal contribution
posted on 2020-07-01, 00:00 authored by Parham Mohsenzadeh Kebria, Abbas KhosraviAbbas Khosravi, Saeid Nahavandi, P Shi, Roohallah AlizadehsaniRoohallah AlizadehsaniThis paper proposes a robust adaptive algorithm that effectively copes with time-varying delay and uncertainties in Internet-based teleoperation systems. Time-delay induced by the communication network, as a major problem in teleoperation systems, along with uncertainties in modeling of robotic manipulators and remote environment warn the stability and performance of the system. A robust adaptive control algorithm is developed to deal with the system uncertainties and to provide a smooth estimation of delayed reference signals. The proposed control algorithm generates chattering-free torques which is one of the practical considerations for robotic applications. In addition, the achieved input-to-state stability gains do not necessarily require high gain control torques to retain the system's stability. Experimental simulation studies validate the effectiveness of the proposed control strategy on a teleoperation system consisting of a Phantom Omni Haptic device and SimMechanics model of the industrial manipulator UR10. The validation of the proposed control methodology was executed through a real-time Internet-based communication established over 4G mobile networks between Australia and Scotland.
History
Journal
IEEE Transactions on CyberneticsVolume
50Issue
7Pagination
3243 - 3253Publisher DOI
ISSN
2168-2267eISSN
2168-2275Publication classification
C1 Refereed article in a scholarly journalCopyright notice
2019, IEEEUsage metrics
Keywords
Science & TechnologyTechnologyAutomation & Control SystemsComputer Science, Artificial IntelligenceComputer Science, CyberneticsComputer ScienceUncertaintyRobotsDelaysMathematical modelAdaptation modelsStability analysisAdaptive controlInternet-based teleoperationrobust controltime-varying delayuncertaintiesFINITE-TIME CONTROLBILATERAL TELEOPERATIONROBOTIC MANIPULATORSDESIGNINPUTArtificial Intelligence and Image Processing
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