Adaptive Bilateral Control Of Nonlinear Teleoperation Systems Subject To Uncertainties

Adaptive bilateral control of nonlinear teleoperation systems subject to uncertainties

Researchers: Xia Liu, Mahdi Tavakoli

Related publications: 1, 2, 3, 4

Summary:

Typically, master-slave teleoperation controllers assume perfect knowledge of the master and the slave robots dynamics. In practical teleoperation systems, however, the perfect knowledge of the master and the slave may be unavailable due to model uncertainties. Therefore, adaptive control methods have been sought to mitigate parametric uncertainties in the dynamics of teleoperation systems.

Research so far on adaptive bilateral control of master-slave teleoperation systems has considered dynamic uncertainties but has stopped short of considering other uncertainties; for instance, kinematic uncertainties or other nonlinearly parameterized uncertainties. These uncertainties in teleoperation systems may lead to significant position and/or force tracking errors if not compensated for in the control scheme. Therefore, new controllers are required that can guarantee the stability and transparency of the system in the presence of all types of uncertainties in the master and the slave robots.

In this project, we are interested in developing new nonlinear adaptive control schemes to guarantee the stability and transparency of the bilateral teleoperation system in the presence of various uncertainties. Stability and transparency of the overall teleoperation are the subjects of our studies.