Composite Nonlinear Bilateral Control for Teleoperation Systems With External Disturbances

作     者：Zhenhua Zhao Jun Yang Shihua Li Wen-Hua Chen 

作者机构：the College of Automation EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China the School of AutomationSoutheast UniversityKey Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE)Ministry of EducationNanjing 210096China the Department of Aeronautical and Automotive EngineeringLoughborough UniversityLoughboroughLE11 3TUUK 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2019年第6卷第5期

页      面：1220-1229页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 

基　　金：supported in part by the National Natural Science Foundation of China(61573099,61633003,61750110525,61903192) Fundamental Research Funds for the Central Universities(2242016R30011) Graduate Innovation Program of Jiangsu Province(KYLX15-0114) Scientific Research Foundation of Graduate School of Southeast University(YBJJ1561) Open Project Program of Ministry of Education Key Laboratory of Measurement and Control of School of Computer Science and Engineering(CSE) MCCSE2017A01,MCCSE2019A01) Chinese Scholarship Council Newton Fund by the British Council 

主　　题：Bilateral control disturbance observer force haptic teleoperation 

摘      要：This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic(i.e., contact force tracking)through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed;2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.