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Robust adaptive control for bilateral teleoperation systems with guaranteed parameter estimation | IEEE Conference Publication | IEEE Xplore

Robust adaptive control for bilateral teleoperation systems with guaranteed parameter estimation

Publisher: IEEE

Abstract:

Adaptive control has recently been extended to bilateral teleoperators to synchronize the local and remote positions and velocities. However, precise parameter estimation...View more

Abstract:

Adaptive control has recently been extended to bilateral teleoperators to synchronize the local and remote positions and velocities. However, precise parameter estimation has not been achieved via conventional adaptations. In this paper, we propose an modified adaptive control method for teleoperation systems by introducing a new adaptive law, which uses the parameter error as new leakage terms. Consequently, we prove that the position and velocity synchronization and the parameter estimation can be achieved simultaneously. It is found that the parameter estimation convergence can help to improve the motion synchronization. Simulation results validate the feasibility and efficacy of the proposed method.
Date of Conference: 18-20 August 2016
Date Added to IEEE Xplore: 27 October 2016
ISBN Information:
Publisher: IEEE
Conference Location: Macau, China

References

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