Position and velocity synchronization in bilateral teleoperation in presence of stochastic disturbances in control inputs

摘要

The problem of synchronization of bilateral teleoperators in the presence of stochastic disturbances in control inputs is considered in this paper. It is clear that the mechanical systems are often subjected to random disturbances and it can influence the performance of the control system in an uncertain manner. To cope with this, the new adaptive controller is proposed. This technique uses the exponential practical stability concept which guarantees that the tracking error and its derivative converge to an arbitrarily small neighborhood of zero by appropriate tuning of the controller's parameters. It is noteworthy that, the proposed method does not need information, such as the physical parameters of the master and slave robots. Finally, the simulation results are given to show the effectiveness of proposed technique.