Composite Adaptive Control of Teleoperators With Joint Flexibility, Uncertain Parameters, and Time-Delays

Abstract

This paper is focused on composite adaptive control design for master-slave teleoperation systems with a flexible-joint manipulator as the slave. Gravity compensation and time-varying delays are considered. For the master manipulator, the composite adaptive controller with a novel adaptation law is designed to guarantee the parameter estimation error and the tracking error converging to zero. For the slave manipulator with joint flexibility, the proportional plus damping control with gravity compensation is proposed. The stability criteria of the closed-loop teleoperation system are given in terms of linear matrix inequalities. Comprehensive simulation studies are provided to demonstrate the effectiveness of the proposed control scheme.

Keywords

• Teleoperators
• delay systems
• adaptive control
• composite adaptation
• parameter convergence
• gravity compensation