Adaptive Wavenet Controller Design for Teleoperation Systems with Variable Time Delays using Singular Perturbation Method

摘要

The main goal of controller design in teleoperation systems is to achieve stability and optimal operation in presence of factors such as time delays, system disturbances and modeling errors. This paper proposes a new method of controller design based on wavenet with singular perturbation method for the bilateral teleoperation of robots through the internet. The wavenet controller could overcome the variable time delay in teleoperation system. This new method introduces a reduced-order structure for control and stability of teleoperation systems. By using singular perturbation method, teleoperation system is decomposed into two fast and slow subsystems. This method is a step towards reduced-order modeling. In this method, we use a feedback linearization method in master subsystem and a wavenet controller for slave subsystem. In wavenet controller, we used a learning method so that the system was Lyapunov stable. As the stability of the model is highly dependent on the learning of the system, we use Lyapunov stability in this method. It has been tried to reduce the tracking error between the master and the slave subsystems. In this structure the position of master-slave are compared together and controlling signal is applied to the slave so that they can track each other in the least possible time. In all schemes the effectiveness of the system is shown through the simulations and they have been compared with each other.