Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System

IEEE Access

Qingqing Huang¹  Linping Chan¹  Ping Wang¹  Yang Liu¹ 

[1] Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, China;

关键词: Delay compensation;    disturbance suppression;    adaptive Smith predictor;    sliding mode control;    improved extended active observer;   

DOI  :  10.1109/ACCESS.2022.3174871

来源: DOAJ

【 摘 要 】

In this paper, a new robust adaptive nonlinear teleoperation system using an improved extended active observer (IEAOB), adaptive Smith predictor (ASP) and sliding mode control is developed to address the time delay in the communication channels and the nonlinear robot model uncertainties. Firstly, an ASP based on Padé approximation and active observer is designed to compensate for the time delay effect. Specifically, the total network time delay is modelled by Padé approximation, and then an active observer is deployed to estimate the time delay. To ensure the time-varying delay effect is completely suppressed, a sliding mode control algorithm is further developed. The main added value of this teleoperation approach is that it requires neither specific mathematic delay-time model, nor strict assumptions on time delay from a practical point of view. Finally, the stability of the designed teleoperation system is theoretically studied and the system effectiveness is demonstrated by applying it to a pair of Phantom Omni haptic devices connected via a communication channel with time-varying delays.

【 授权许可】

Unknown