Adaptive control for bilateral teleoperation system under input and multi-state constraints

摘要

In actual teleoperation system, due to the components, structure, security and the laws of physics limit, system input, state and output values can not be arbitrary. These restrictions on signals if without a second thought in design process will likely result in system performance losses and even system failure or collapse. With above considerations, the synchronization control design problem will be investigated for bilateral teleoperation system under input saturation and multiple states constraints. To deal with the input saturation problem, an auxiliary system is designed. Then, adaptive controllers are designed by applying the backstepping method for the master and the slave, respectively. By constructing Barrier Lyapunov Function (BLF), the stability and synchronization performances are guaranteed with the new controllers under input and multi-state constraints in the presence of system uncertainties and external disturbances. Finally, an experiment is performed to demonstrate the effectiveness of the proposed method.