Design of Synchronization Tracking Adaptive Control for Bilateral Teleoperation System with Time-Varying Delays

The performances of position synchronization and force interaction of the teleoperation system provide a safe and efficient way for operators to perform tasks in remote, hazardous environments. In practice, however, communication delays and dynamic uncertainties can impair the performance of position synchronization controls. Under the above factors, it is necessary to study and design appropriate bilateral control methods to achieve stable and effective position synchronization control. In this paper, a new adaptive control architecture based on velocity feedback filter and radial basis function neural network is proposed. In the proposed control scheme, only the position signal is transmitted during the communication process, and the speed feedback filter and compensation method are designed and adopted to avoid the use of acceleration signals. In addition, a new auxiliary variable with a tracking error integral term is used to reduce the steady-state error of position tracking under nonzero external environmental forces. Using the Lyapunov-Krasovskii method, the stability of closed-loop remote operating systems is demonstrated. In the simulation and experiment sections, the algorithm was verified separately and compared with other algorithms. The results of a master-slave robot system verify the tracking performance of our proposed control scheme.