Adaptive Control of Teleoperation System with Uncertainty in Dynamic Parameters and Gravitational Acceleration

Abstract

Abstract: In this paper, a new method for nonlinear teleoperation system with uncertainty in dynamical parameters and gravitational acceleration is introduced. This system can be used in space teleoperation where the slave robot works on uncertain height with unknown gravitational acceleration. Also the proposed method can be used when the master and slave robot work on different latitude. In the adaptive controller which is used in this paper, the gradient descent method is used to update parameters. In the proposed method, the bound of unknown parameters is not used in the controller. The proposed method cannot estimate the parameters of the master and slave robots and the unknown gravitational acceleration but can cause a proper functioning of the system. To verify the efficiency of the proposed method, it is applied on 2-DOF planar robots with constant delays in the transmission channel.

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References

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TABRIZ JOURNAL OF ELECTRICAL ENGINEERING
Volume 46, Issue 3 - Serial Number 77
November 2016
Pages 233-239

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