A Novel Switching-Based Control Framework for Improved Task Performance in Teleoperation System With Asymmetric...

Area of Science:

• Robotics
• Control Systems Engineering
• Mechatronics

Background:

• Teleoperation systems require precise synchronization between master and slave robots.
• Challenges include unknown robot kinematics/dynamics and asymmetric time delays.
• Existing methods struggle to address these issues simultaneously with performance constraints.

Purpose of the Study:

• To develop an adaptive control framework for task-space teleoperation.
• To address constrained, predefined synchronization errors.
• To handle unknown system parameters and time-varying delays within a unified approach.

Main Methods:

• A novel switched control framework is proposed.
• Stability is established using multiple Lyapunov-Krasovskii functionals.
• The controller is designed to guarantee prescribed performance.

Main Results:

• The closed-loop system stability is proven in the sense of state-independent input-to-output stability.
• The controller effectively manages unknown kinematics/dynamics and asymmetric time delays.
• Prescribed transient-state and steady-state synchronization performances are achieved.

Conclusions:

• The developed adaptive control framework offers a unified solution for complex teleoperation challenges.
• It ensures robust and precise synchronization performance.
• Simulation studies validate the effectiveness of the proposed method.