Adaptive Iterative Learning Tracking Control for Nonlinear Teleoperators with Input Saturation

Bochun Wu, Xinhao Chen, Jinshan Huang, Jiawen Wen, Jiakun Liu, Fujie Wang and Jianing Zhang ()
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Bochun Wu: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Xinhao Chen: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Jinshan Huang: School of Electronics and Communication Engineering, Guangzhou University, Guangzhou 510006, China
Jiawen Wen: School of Electronics and Communication Engineering, Guangzhou University, Guangzhou 510006, China
Jiakun Liu: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Fujie Wang: School of Engineering, Dongguan University of Technology, Dongguan 523808, China
Jianing Zhang: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China

Mathematics, 2024, vol. 12, issue 15, 1-16

Abstract: Addressing input saturation, external disturbances, and uncertain system parameters, this paper investigates the position tracking control problem for bilateral teleoperation systems with a time delay communication channel. Based on a composite energy function, we propose an adaptive iterative learning control (AILC) method to achieve the objective of position tracking under the alignment condition. This extends the existing research on the control of nonlinear teleoperation systems with time delay. The saturation constraint property of the Softsign function ensures that no state of the system exceeds its constraints. The controller learns to simultaneously deal with the uncertainty of system parameters online, reject external disturbances, and eliminate positional errors along the time and iteration axes. All signals in the system for any constant time delay are proved to be bounded. Ultimately, the performance of the proposed controller is further verified through numerical simulations.

Keywords: adaptive iterative learning control; position tracking; input saturation; nonlinear teleoperators; time delay (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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