Di-Hua Zhai, Yuanqing Xia

High-Performance Adaptive Control of Teleoperation Systems (eBook, ePUB)

• Format: ePub

Produktbeschreibung

Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperations, the homogeneous and heterogeneous teleoperations, and the single-master single-slave and multi-master multi-slave teleoperations.
The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls for teleoperation systems to improve the transient-state and steady-state synchronization performances.
This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful to graduate students in the fields of science, engineering, and computer science.

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Produktdetails

• Verlag: Taylor & Francis eBooks
• Seitenzahl: 313
• Erscheinungstermin: 17. April 2023
• Englisch
• ISBN-13: 9781000865578
• Artikelnr.: 67558228

Autorenporträt

Di-Hua Zhai is associate professor of the School of Automation (Beijing) and the Yangtze Delta Region Academy (Jiaxing), at Beijing Institute of Technology, China. His research interests include teleoperation, intelligent robot, human-robot collaboration, switched control, optimal control, constrained control, and networked control.

Yuanqing Xia is currently a professor at Beijing Institute of Technology, China. His research interests are in the fields of cloud control systems, networked control systems, robust control and signal processing, active disturbance rejection control, unmanned system control, and flight control.

Inhaltsangabe

Section I Preliminaries 1. Introduction 2. Preliminaries of Teleoperation Control Section II Single
Mater Single
Slave Teleoperation 3. Adaptive control of bilateral teleoperation 4. Anti
saturation teleoperation control Section III Multi
Mater Multi
Slave Teleoperation 5. Adaptive tele
coordinated control of multiple mobile robots 6. Multilateral tele
coordinated control Section IV Heterogeneous Teleoperation 7. Adaptive semi
autonomous control of heterogeneous teleoperation Systems Section V Finite
time Teleoperation 8. Adaptive finite
time teleoperation control 9. Finite
time adaptive anti
windup teleoperation control Section VI Prescribed
performance Teleoperation 10. Prescribed performance task
space teleoperation control 11. Practical given performance control of robotic systems