Adaptive Bilateral Teleoperation Control Design in Task Space with Guaranteed Parameter Estimation

KUANG Rui; JIA Guotao; LUO Xin; LI Yantian; WANG Xian

doi:10.11993/j.issn.2096-3920.2025-0060

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KUANG Rui, JIA Guotao, LUO Xin, LI Yantian, WANG Xian. Adaptive Bilateral Teleoperation Control Design in Task Space with Guaranteed Parameter Estimation[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0060

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KUANG Rui, JIA Guotao, LUO Xin, LI Yantian, WANG Xian. Adaptive Bilateral Teleoperation Control Design in Task Space with Guaranteed Parameter Estimation[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0060

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Adaptive Bilateral Teleoperation Control Design in Task Space with Guaranteed Parameter Estimation

doi: 10.11993/j.issn.2096-3920.2025-0060

1.
Naval Military Representative Office in GuangZhou, Kunming 650106, China
2.
The 705 Research Institute, China Shipbuilding Industry Corporation Limited, Kunming 650101, China
3.
Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming 650500, China

Received Date: 2025-04-23
Accepted Date: 2025-06-11
Rev Recd Date: 2025-05-30

Available Online: 2025-10-15

Abstract

Abstract

In the framework of task-space, adaptive control techniques have been widely applied to bilateral teleoperation systems aiming at achieving precise synchronisation between master and slave robots in terms of Cartesian position and velocity. In order to improve the synchronisation of teleoperation systems, parameter estimation algorithms have been proposed in several studies to compensate for the effects of unknown dynamics. Nevertheless, designs based on traditional adaptive mechanisms have not yet achieved accurate estimation of the system parameters and therefore cannot fully compensate for the unknown dynamics. This paper proposes an adaptive control strategy for task-space teleoperation systems, which innovatively adopts the parameter error as the driving factor for parameter estimation update, and then designs a new adaptive law. The theoretical analysis proves that this strategy can not only achieve the position and velocity synchronization of teleoperation systems in task space, but also achieve the accurate estimation of system parameters at the same time. The convergence performance of parameter estimation is shown through simulation and theoretical analysis to significantly enhance the master-slave synchronization of teleoperation systems. Meanwhile, the effectiveness and superiority of this study are fully verified.
- bilateral teleoperator,
- task-space,
- adaptive control

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References(17)

References

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