Composite Adaptive Control for Bilateral Teleoperation Systems without Persistency of Excitation

TL;DR

This paper introduces a novel composite adaptive control method for bilateral teleoperation systems that ensures parameter convergence without requiring persistent excitation, improving system performance under uncertainties and delays.

Contribution

The paper proposes a new adaptive control scheme that guarantees parameter convergence without persistent excitation in nonlinear teleoperation systems with delays and uncertainties.

Findings

Guarantees parameter convergence without PE condition

Ensures stability using linear matrix inequalities

Demonstrates improved tracking performance in simulations

Abstract

Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong persistent-excitation (PE) condition should be satisfied to guarantee the parameter convergence. This paper proposes a novel composite adaptive control to guarantee parameter convergence without PE condition for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays. The stability criteria of the closed-loop teleoperation system are given in terms of linear matrix inequalities. New tracking performance measures are proposed to evaluate the position tracking between the master and the slave. Simulation studies are given to show the effectiveness of the proposed method.