Abstract
In this paper, the force reflection control problem is addressed for a bilateral teleoperation system with time-varying delays. A dynamic gain force observer is proposed to obtain the force information for the force reflection control scheme. In virtue of the adaptive law, the internal uncertainties can be estimated based on the prescribed performance functions. The corrective wave variable method is utilized such that the bilateral teleoperation system could achieve a satisfactory control performance. A number of practical experiments are implemented on the bilateral teleoperation system to demonstrate the validation of the proposed methodology.
| Original language | English |
|---|---|
| Article number | 8330054 |
| Pages (from-to) | 1162-1172 |
| Number of pages | 11 |
| Journal | IEEE Transactions on Industrial Informatics |
| Volume | 15 |
| Issue number | 2 |
| DOIs | |
| State | Published - Feb 2019 |
Keywords
- Adaptive law
- bilateral teleoperation system
- force observer
- force reflecting control