Adaptive Control And Experimental Valid For Networked Teleoperation System Under Multi-variables Constraints

With the development of technology and the exploration for unknown realms, more and more environments or places need to be studied and investigated where are not suitable or convenient for human. To deal with that problem, teleoperation technology emerged. Teleoperation extends the human capability to perceive and manipulate objects remotely by providing the operator with similar conditions as those at the remote location. The teleoperation system has been widely used in telesurgery, space exploration, underwater detection, hazardous environment rescue and other fields. Since teleoperation has many applications, a plenty of researchers have studied on it in recent years. However, the researches on teleoperation are not mature. The problem becomes more complicated when there are unknown nonlinearities, parameter uncertainties, states constraints, networked time delays in the teleoperation system. In this paper, we investigate the synchronization control design problem for networked teleoperation system under multiple states constraints and input saturation. The effectiveness of the control strategy is analyzed by constructing Barrier Lyapunov Function and valid by experiment. The main works of this paper can be summarized as:Firstly, the dynamic parameter identification of a Phantom Premium 1.5HF is experimentally investigated. The device dynamics is linearly parameterized and the data collection is passed through a low-pass filter. The estimated parameters can be solved out using the least squares estimation method, and employed to predict joint torques for cross validation. Experimental results are presented and the reasons of error are discussed. The identification of the system is significant for the verification of new algorithm.Secondly, the synchronization control problem for bilateral teleoperation system is investigated. In order to more approach the practical, two adaptive controllers are designed for the master and the slave respectively with multi-state constraints and input saturation in the presence of system uncertainties and external disturbances. By constructing Barrier Lyapunov Function, the stability and synchronization performances are proved. Finally, the experiment results are given to show the effectiveness of the control schemes.Finally, the problem of capturing an object with single-master multi-slave teleoperation system is studied. Coordinates transformation for multiple manipulators collaborative work and decomposing for actual capture process are demonstrated. The experiment is realized by using a P+d controller. The effectiveness of proposed method is validated by experiment. Furthermore, some defects in the experiment are discussed.