An adaptive controller for nonlinear teleoperators with variable time-delays |
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| Authors: | Ioannis Sarras Emmanuel Nuño Luis Basañez |
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| Institution: | 1. Automatic Control Department, SUPELEC, Gif-sur-Yvette, France;2. Department of Computer Science, CUCEI, University of Guadalajara, Guadalajara, Mexico;3. Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain |
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| Abstract: | In most real-life bilateral teleoperators the available physical parameters are uncertain and the communications exhibit variable time-delays. In order to confront these situations and only assuming that a bound of the time-delays is known, the present work reports an adaptive controller which ensures asymptotic convergence of both position errors and velocities to zero, provided that a sufficient condition on the control gains is met. Compared to previous related works that only treated constant time-delays, the stability analysis does not rely on the cascade interconnection structure of the local and remote nonlinear dynamics and the linear interconnection map. Instead, the paper employs a different Lyapunov candidate function that incorporates a strictly positive term, the local and remote position error. Some simulations, in free space and interacting with a rigid wall, and experiments, using two nonlinear manipulators, illustrate the performance of the proposed control scheme in the presence of uncertain parameters and variable time-delays. |
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