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

Author

Listed:
  • Jigang Bao

    (Engineering Training Center, Lanzhou College of Information Science and Technology, Lanzhou 730000, China
    Gansu Provincial Key Laboratory of Advanced Industrial Process Control, Lanzhou 730050, China
    These authors contributed equally to this work.)

  • Liyue Fu

    (School of Automation and Electrical Engineering, Linyi University, Linyi 276000, China
    These authors contributed equally to this work.)

  • Haochen Zhang

    (Gansu Provincial Key Laboratory of Advanced Industrial Process Control, Lanzhou 730050, China
    College of Electrical and Information Engineering, Lanzhou University of Technology, 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)

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.

Suggested Citation

  • Jigang Bao & Liyue Fu & Haochen Zhang & Ancai Zhang & Wenhui Guo & Tiansheng Chen, 2022. "An Adaptive Proportional Plus Damping Control for Teleoperation Systems with Asymmetric Time-Varying Communication Delays," Mathematics, MDPI, vol. 10(24), pages 1-21, December.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:24:p:4675-:d:999009
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    References listed on IDEAS

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    1. X. G. Yan & J. Lam & H. S. Li & I. M. Chen, 2000. "Decentralized Control of Nonlinear Large-Scale Systems Using Dynamic Output Feedback," Journal of Optimization Theory and Applications, Springer, vol. 104(2), pages 459-475, February.
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    Cited by:

    1. Haochen Zhang & Liyue Fu & Ancai Zhang, 2023. "A Novel Adaptive Finite-Time Position Tracking Control Strategy for Teleoperation System with Varying Communication Delays," Mathematics, MDPI, vol. 11(6), pages 1-24, March.

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