2018/04/18 by Yuling Li, Yixin Yin, Li, Yuling +7
Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Geophysics and Sensor Technology #Robotics (cs.RO) #Systems and Control (eess.SY) #Teleoperation and Haptic Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1804.06586
openalex publication_date 2018/04/18 · openalex created_date 2018/04/24 · openalex updated_date 2026/08/01
Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong persistent-excitation (PE) condition should be satisfied to guarantee the parameter convergence. This paper proposes a novel composite adaptive control to guarantee parameter convergence without PE condition for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays. The stability criteria of the closed-loop teleoperation system are given in terms of linear matrix inequalities. New tracking performance measures are proposed to evaluate the position tracking between the master and the slave. Simulation studies are given to show the effectiveness of the proposed method.