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Nonlinear Design of Adaptive Controllers for Bilateral Teleoperation Systems with Variable Time Delays

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Advances in Engineering Research and Application (ICERA 2019)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 104))

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Abstract

Controlling Bilateral Teleoperation systems in the presence of time-varying delays and disturbances presents a significant problem. This paper presents robust sliding mode control for slave side and traditional input state stability (ISS) controller for master side with the effects of external forces. Furthermore, synchronous control law based on wave variable and passivity based control in the presence of variable time delays. The wave variable theory enables us to consider the two-side BT systems as a unified circuit system. The attraction region in closed systems is estimated by using theoretical analysis. Offline simulation results are also implemented to verify the efficiency of the proposed controllers.

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Author information

Authors and Affiliations

  1. Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Dang Ngoc Trung & Do Trung Hai

  2. Hanoi University of Science and Technology, Hanoi, Vietnam

    Dao Phuong Nam

Authors
  1. Dang Ngoc Trung
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  2. Dao Phuong Nam
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  3. Do Trung Hai
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Corresponding author

Correspondence to Dang Ngoc Trung .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Automation, TU Ilmenau, Ilmenau, Thüringen, Germany

    Kai-Uwe Sattler

  2. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  3. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  4. Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  5. Institute for Automation and Systems Engineering, TU Ilmenau, Ilmenau, Thüringen, Germany

    Horst Puta

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Trung, D.N., Nam, D.P., Hai, D.T. (2020). Nonlinear Design of Adaptive Controllers for Bilateral Teleoperation Systems with Variable Time Delays. In: Sattler, KU., Nguyen, D., Vu, N., Tien Long, B., Puta, H. (eds) Advances in Engineering Research and Application. ICERA 2019. Lecture Notes in Networks and Systems, vol 104. Springer, Cham. https://doi.org/10.1007/978-3-030-37497-6_60

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