Position-Velocity/Position Based Robust Control for Shared Autonomous System Over Open Communication Networks-Experimental Results

摘要

This paper experimentally compares position-velocity/position and interaction reflection based bilateral shared control telemanipulation system over open internet networks with the presence of delay and uncertainty. The shared control algorithm for master and slave manipulator is designed by using two classes of signals: delayed position and position-velocity. The shared control for the master manipulator is developed by comprising the delayed position-velocity and position of the slave with the delayed interaction reflection from the interaction between slave and remote environment. The shared control for slave manipulator is developed by using delayed position-velocity and position of the master manipulator. Robust adaptation learning laws are employed locally with the input of the master and slave manipulator to estimate the interaction properties between human and master manipulator and between slave and remote environment. The delayed estimated interaction between slave and remote environment reflects to the operators hand in order to adjust with the estimated interaction properties between master and human operator. Robust and adaptive control theory used to learn and compensate uncertainty associated with the modeling errors and other external disturbance. Lyapunov method is used to show the convergence of the closed loop system with the presence of time varying delay and uncertainty. The test results are presented to compare the effectiveness of the position-velocity and position based robust control interface for real-time bilateral telemanipulation applications.