Bilateral control of uncertain telerobotic systems using iterative learning control: Design and stability analysis

摘要

This paper studies the bilateral control problem of uncertain telerobotic systems using Iterative learning control (ILC) technique. A control structure by designing two local controllers is introduced to achieve robust stability and transparency in the presence of model uncertainty and external disturbance. In the core of this structure, Smith-predictor is also adopted to cope with the forward and backward time delays appeared in the communication channel. Stability analysis of the system is provided under asymmetric constant time delays, but unknown bounded. Simulation results illustrate the good performance of the proposed control method.