Cecilia García, Maria Artigas, Rafael Aracil, and Roque Saltarén
Bilateral teleoperation, adaptive control, state of convergence, optimal analysis
This paper presents the design and application of an adaptative control method for a bilateral system of teleoperation without time delay. It also studies the optimal analysis about adaptation laws that have been developed. It is modelled like a linear system. The scheme and control of algorithm have been formulated in the space state following a control technique of the master and the slave state of convergence. Based on the mentioned control schemes, the gains on the control loop to obtain a stable bilateral system with the desired force reflection have been adjusted through an adaptative method. Consequently, an optimal analysis was developed to decide which adaptive controller has been the best. Many simulations were performed and some of them are summarized in this paper. In the same manner, the results from the experiments are explained to prove the theoretical results in using a master–slave experimental system of 1 degree of freedom.
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