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Adaptive Control of Delayed Teleoperation Systems with Parameter Convergence
Joint Authors
Li, Yuling
Zhang, Sen
Yin, Yi-Xin
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-04-05
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Li, Yuling& Yin, Yi-Xin& Zhang, Sen. 2018. Adaptive Control of Delayed Teleoperation Systems with Parameter Convergence. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-7.
https://search.emarefa.net/detail/BIM-1205474
Modern Language Association (MLA)
Li, Yuling…[et al.]. Adaptive Control of Delayed Teleoperation Systems with Parameter Convergence. Mathematical Problems in Engineering No. 2018 (2018), pp.1-7.
https://search.emarefa.net/detail/BIM-1205474
American Medical Association (AMA)
Li, Yuling& Yin, Yi-Xin& Zhang, Sen. Adaptive Control of Delayed Teleoperation Systems with Parameter Convergence. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-7.
https://search.emarefa.net/detail/BIM-1205474
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1205474