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Shaobo Shen,Aiguo Song 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
The motion prediction and tracking control problem for nonlinear teleoperation system with time-varying delays are investigated in this paper. A novel model-independent prediction method with an observer-based structure is proposed. The positions of both slave and master robots are estimated by using delayed measurements through two predictors which are located on the another side of the robot to be measured. It is proven that the prediction errors can converge to zero by applying the Lyapunov method. Predictive controllers of both master and slave robots are designed by applying the prediction results instead of delayed measurements. Some sufficient conditions are derived to design suitable parameters of controllers acording to Lyapunov theory. Finally, the effectiveness of proposed predictor and controller is verified by simulations.