Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme

Asier Ibeas, Manuel de la Sen

Research output: Contribution to journalArticleResearchpeer-review

46 Citations (Scopus)

Abstract

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper. © 2006 IEEE.
Original languageEnglish
Pages (from-to)1162-1179
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume36
Issue number5
DOIs
Publication statusPublished - 1 Oct 2006

Keywords

  • Adaptive control
  • Force reflection
  • Multiple model
  • Stability
  • Switching
  • Teleoperation

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