An Adaptive Proportional Plus Damping Control for Teleoperation Systems with Asymmetric Time-Varying Communication Delays

Jigang Bao, Liyue Fu (), Haochen Zhang, Ancai Zhang, Wenhui Guo and Tiansheng Chen
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Jigang Bao: Engineering Training Center, Lanzhou College of Information Science and Technology, Lanzhou 730000, China
Liyue Fu: School of Automation and Electrical Engineering, Linyi University, Linyi 276000, China
Haochen Zhang: Gansu Provincial Key Laboratory of Advanced Industrial Process Control, Lanzhou 730050, China
Ancai Zhang: School of Automation and Electrical Engineering, Linyi University, Linyi 276000, China
Wenhui Guo: Engineering Training Center, Lanzhou College of Information Science and Technology, Lanzhou 730000, China
Tiansheng Chen: Engineering Training Center, Lanzhou College of Information Science and Technology, Lanzhou 730000, China

Mathematics, 2022, vol. 10, issue 24, 1-21

Abstract: Communication delay is an important factor affecting the stability and performance of telerobotic systems. In this paper, a new adaptive proportional damping controller is proposed to improve the stability and performance of the system in the presence of the cases such as asymmetric communication delay, unknown gravity torque, friction torque, and other disturbance torques. The proposed proportional damping control method combines the RBF neural network and adaptive control strategy to compensate for the unknown torque. The stability and robustness of the system are enhanced by adding error-damping items, operator force, and environmental force items. The Lyapunov–Krasovskii functional is employed to analyze and prove the exponential stability and signal boundedness of the closed-loop system. The simulation results verify the correctness of the proposed method, and the comparison with the results of other control methods shows the effectiveness of the designed control strategy.

Keywords: teleoperation; proportional damping control; adaptive control; time-varying delay; Lyapunov–Krasovskii function (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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