Adaptive control of time delay teleoperation system with uncertain dynamics

Area of Science:

• Robotics and Control Systems
• Mechatronics
• Teleoperation Technology

Background:

• Time-delay systems present significant challenges in teleoperation due to stability and performance degradation.
• Uncertainties in dynamic parameters and time delays are critical factors affecting teleoperation accuracy.
• Existing control methods often struggle to maintain robust performance in the presence of these uncertainties.

Purpose of the Study:

• To design and analyze a bilateral adaptive control method for time-delay force feedback teleoperation systems.
• To address uncertainties in dynamic parameters and time delays within the control framework.
• To evaluate the stability and tracking performance of the proposed control strategy.

Main Methods:

• A novel bilateral adaptive control method utilizing a PEB (Position Error-based) control structure was developed.
• Lyapunov stability theory was employed to analyze the stability and tracking performance of the closed-loop system.
• The controller was implemented and tested on a teleoperation system with a two-degree-of-freedom rotating manipulator.

Main Results:

• The proposed adaptive bilateral control method demonstrated good control performance in simulations.
• Simulations were conducted under various conditions, including scenarios with and without operator and environment forces.
• The adaptive method showed improved control performance compared to traditional time-delay teleoperation systems.

Conclusions:

• The developed bilateral adaptive control method effectively manages uncertainties in dynamic parameters and time delays.
• The method ensures stability and enhances tracking performance in force feedback teleoperation systems.
• The findings validate the practical applicability and superiority of the proposed adaptive control approach.