Adaptive control with disturbance observer for uncertain teleoperation systems
不确定遥操作系统带干扰观测器的自适应控制

Teleoperation systems are subject to different types of uncertainties which may degrade the transparency of the system or even make the system unstable. We develop an adaptive controller with disturbance observer (ACWDO) to deal with both the external disturbance and the internal dynamic parametric uncertainties in teleoperation systems. In this approach, we build a nonlinear dynamic model of teleoperation systems subject to external disturbance, and design the nonlinear disturbance observers for the master robot and the slave robot, respectively, to estimate and compensate for the external disturbances. After that, based on the disturbance observers, adaptive controllers are designed for the master robot and the slave robot, respectively, to deal with the uncertain dynamic parameters. The designed ACWDOs are incorporated into a four-channel teleoperation system. Theoretical analysis and simulation results show that the controllers realize good position-tracking and force-tracking with desired performances and guarantee the transparency of the teleoperation system.