Adaptive-observer-based robust control for a time-delayed teleoperation system with scaled four-channel architecture. Issue 5 (3rd May 2022)

• Record Type: Journal Article
• Authors: Chan, Linping; Huang, Qingqing; Wang, Ping
• Is Part Of: Robotica. Volume 40:Issue 5(2022)
• Page Start: 1385
• Page End: 1405
• Publication Date: 2022-05-03
• Subjects: Bilateral teleoperation -- Scaled 4-CH teleoperation -- Improved extended active observer -- Damping injection -- Model uncertainty -- Time-varying delay; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574721001168
• Languages: English
• ISSNs: 0263-5747

Abstract

Abstract: This article presents an innovative adaptive-observer-based scaled four-channel (4-CH) control approach applying damping injection for nonlinear teleoperation systems, which unify the study of robotic dynamic uncertainties, operator/environment force acquirements and asymmetric time-varying delays in the same framework. First, a scaled 4-CH scheme with damping injection is developed to handle time-varying delay while guaranteeing the passivity of communication channels. Then, the improved extended active observer (IEAOB) is deployed to derive the operator/environment force while addressing the issues of measurement noise and model uncertainties. Furthermore, the system stability is analyzed by choosing Lyapunov functional. Finally, the proposed method is validated through simulation.