Adaptive control of delayed teleoperation systems with parameter convergence
type: Item
instance of: scholarly article
title: Adaptive control of delayed teleoperation systems with parameter convergence
zbMATH Open document ID: 1426.93137
DOI: 10.1155/2018/1046419
author: Yuling Li
author: Yixin Yin
author: Sen Zhang
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: It is well known that parameter convergence in adaptive control can bring about an improvement of system performance, including accurate online identification, exponential tracking, and robust adaptation without parameter drift. However, strong persistent-excitation (PE) or sufficient-excitement (SE) conditions should be satisfied to guarantee parameter convergence in the classical adaptive control. This paper proposes a novel adaptive control to guarantee parameter convergence without PE and SE conditions for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays. The stability criterion of the closed-loop teleoperation system is given in terms of linear matrix inequalities. The effectiveness of this approach is illustrated by simulation studies, where both master and slave are assumed to be two-link manipulators with full nonlinear system dynamics.
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C10
zbMATH DE Number: 7018447
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/1046419
OpenAlex ID: W2796230176
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Wikidata QID: Q130025839
description: scientific article; zbMATH DE number 7018447