High-Performance Adaptive Control of Teleoperation Systems

ISBN-13: 9781032465159 / Angielski / Twarda / 2023 / 296 str.

Di-Hua Zhai; Shan Guo; Yuanqing Xia

Opis

Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperations, the homogeneous and heterogeneous teleoperations, and the single-master single-slave and multi-master multi-slave teleoperations.
The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls for teleoperation systems to improve the transient-state and steady-state synchronization performances.
This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful to graduate students in the fields of science, engineering, and computer science.

Spis treści

Section I Preliminaries  1. Introduction  2. Preliminaries of Teleoperation Control  Section II Single-Mater Single-Slave Teleoperation  3. Adaptive control of bilateral teleoperation  4. Anti-saturation teleoperation control Section III Multi-Mater Multi-Slave Teleoperation  5. Adaptive tele-coordinated control of multiple mobile robots  6. Multilateral tele-coordinated control  Section IV Heterogeneous Teleoperation  7. Adaptive semi-autonomous control of heterogeneous teleoperation Systems  Section V Finite-time Teleoperation  8. Adaptive finite-time teleoperation control  9. Finite-time adaptive anti-windup teleoperation control  Section VI Prescribed-performance Teleoperation  10. Prescribed performance task-space teleoperation control  11. Practical given performance control of robotic systems