Passivity-Based Bilateral Tele-Driving System With Parametric Uncertainty and Communication Delays

作     者：Dong, Yimeng Chopra, Nikhil 

作者机构：Univ Maryland Dept Mech Engn College Pk MD 20740 USA 

出 版 物：《IEEE CONTROL SYSTEMS LETTERS》 (IEEE Control Syst. Lett.)

年 卷 期：2019年第3卷第2期

页      面：350-355页

核心收录：

基　　金：National Science Foundation [ECCS1711554] Naval Air Warfare Center Aircraft Division, Pax River, MD, USA [N00421132M022] 

主　　题：Human-in-the-loop control control over communications 

摘      要：In this letter, a new bilateral tele-driving control design is proposed to enable a human driver to tele-drive a car-like mobile robot with haptic feedback. In the presence of communication delays and dynamic parametric uncertainties, a passivity-based adaptive control algorithm is designed to achieve scaled coordination between a local and a remote robot. The efficacy of the proposed control scheme is verified through numerical simulations.