Adaptive control of teleoperation system based on nonlinear disturbance observer

Abstract In this paper, the problem of position tracking in the teleoperation systems subject to external forces is considered. An adaptive control algorithm and adaptive laws are proposed based on nonlinear disturbance observer in order to address the tracking error caused by external forces in the presence of constant communication time delays. First, we present a control algorithm based on the observer in the joint space for teleoperation system with uncertain dynamics; Then, to relax the assumption of identical robots, the adaptive control algorithm is extended in task space under the condition that both robots kinematic and dynamic parameters are uncertain. The stability of the proposed control algorithms incorporated with the nonlinear disturbance observer is presented based on the Lyapunov–Krasovskii criterion, and global uniform ultimate boundedness of tracking errors is achieved. Simulation results are given to validate the performance of the system utilizing the proposed controller-observer scheme.

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