ADAPTIVE CONTROL OF NON-LINEAR TELEOPERATOR SYSTEMS IN THE PRESENCE OF ADDITIVE INPUT AND OUTPUT DISTURBANCES


Tatlicioglu E.

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, vol.25, no.1, pp.17-25, 2010 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 25 Issue: 1
  • Publication Date: 2010
  • Doi Number: 10.2316/journal.206.2010.1.206-3244
  • Title of Journal : INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
  • Page Numbers: pp.17-25
  • Keywords: Adaptive control, teleoperator systems, robust control, passivity, MASTER-SLAVE SYSTEM, BILATERAL TELEOPERATION, STABILITY, TRANSPARENCY, COORDINATION

Abstract

In this paper, a robust adaptive controller is developed for nonlinear teleoperator systems. The controller is proven to yield semi-global asymptotic tracking in the presence of additive disturbances and parametric uncertainty. Robust integral of the sign of the error terms are utilized in the design of the controller and Lyapunov-based techniques are used to guarantee that the coordination between the master and the slave systems is ensured and the tracking error is asymptotically driven to zero.