Adaptive Control for Nonlinear Bilateral Teleoperation Manipulators With strong Transparency Performance

EasyChair Preprint no. 3316

Abstract

With the advancement of automation and robotics [1]- [4], the bilateral teleoperation system can expand the working capability of human operators in the remote, unstructured and dangerous environments, and has been applied in tremendous areas such as the nuclear detection, medical surgery, subsea exploration and military operation.The main problem in this kind of system is to synchronize the behaviour of the remote and the local robots. In this paper, an adaptive control design is proposed for nonlinear bilateral teleoperation manipulators to cope with the main issues including the communication time delay, various nonlinearities and uncertainties. With the Lyapunov theory, asymptotic stability of the bilateral teleoperation system is suggested to any bounded varying delay with a bounded rate of variation can be guaranteed. Finally, simulation results are presented to demonstrate the validity of our controller.

Keyphrases: adaptive control, Bilateral teleoperation system, time-varying delay, Uncertainties

@Booklet{EasyChair:3316,
  author = {Henni Mansour Abdelwaheb and Kacimi Abderrahmane},
  title = {Adaptive Control for Nonlinear Bilateral Teleoperation Manipulators With strong Transparency Performance},
  howpublished = {EasyChair Preprint no. 3316},

  year = {EasyChair, 2020}}