Abstract
A position and force tracking control based on force estimation is proposed for bilateral teleoperation systems with time-varying delays. A time-delay state observer is employed to estimate the system state variables affected by the delays. To estimate the interaction forces effectively, a force estimation algorithm with adaptive law is designed. Based on the estimated states and forces, a P+D controller is designed to simultaneously guarantee the position and force tracking of the system. The stability and tracking performance of the closed-loop system are proved via Lyapunov functions, and the feasibility of the proposed control is verified by both simulations and experiments. The proposed control can improve the position and force tracking performance of bilateral teleoperation systems under time-varying delays. Meanwhile, it neither requires force measurement nor the bound of the derivative of the time-varying delays to be within one.
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This research was supported by the National Natural Science Foundation of China under Grants 61973257 and 62003278, and the Natural Science Foundation of Sichuan Province under Grants 2023NSFSC0510 and 2023NSFSC1431.
You Wu is currently pursuing a master’s degree in the School of Electrical Engineering and Electronic Information, Xihua University, China. His research interest is robotic teleoperation systems.
Xia Liu received her Ph.D. degree from University of Electronic Science and Technology of China in 2011. In 2009–2010, she was a visiting scholar in the Department of Electrical and Computer Engineering, University of Alberta, Canada. In 2013–2014, she was a visiting scholar in the Department of Mechanical Engineering, the University of Adelaide, Australia. Since 2012, Dr. Liu has been with the School of Electrical Engineering and Electronic Information in Xihua University, China, and now a professor. Her research interests include robotics, teleoperation systems, and nonlinear control.
Yong Yang received his Ph.D. degree in control science and engineering from Southwest Jiaotong University in 2017. He is currently with the School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, China, and an associate professor. His current research interests include robotics, exoskeleton systems, learning control, adaptive control, and mechatronics system design.
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Wu, Y., Liu, X. & Yang, Y. Position and Force Control of Bilateral Teleoperation Systems With Time-varying Delays Based on Force Estimation. Int. J. Control Autom. Syst. 22, 276–287 (2024). https://doi.org/10.1007/s12555-022-0891-0
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DOI: https://doi.org/10.1007/s12555-022-0891-0