Composite Adaptive Control for Bilateral Teleoperation Systems without Persistency of Excitation
Li, Yuling LU ; Yin, Yixin ; Zhang, Sen ; Dong, Jie and Johansson, Rolf LU
(2020)
In Journal of the Franklin Institute
357(2).
p.773-795
- Abstract
Composite adaptive control schemes, which use both the system tracking error and the prediction error to drive the updating law, have become widespread in achieving an improvement of system performance. However, a strong persistent-excitation (PE) condition is required to guarantee the convergence of the parameter estimation errors. This paper proposes a novel composite adaptive control for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays, by which the parameter convergence is achieved without the PE condition. The novelty lies in the construction of the prediction errors by designing lower-bounded gain matrices of the prediction errors. The stability criteria of the closed-loop... (More)
Composite adaptive control schemes, which use both the system tracking error and the prediction error to drive the updating law, have become widespread in achieving an improvement of system performance. However, a strong persistent-excitation (PE) condition is required to guarantee the convergence of the parameter estimation errors. This paper proposes a novel composite adaptive control for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays, by which the parameter convergence is achieved without the PE condition. The novelty lies in the construction of the prediction errors by designing lower-bounded gain matrices of the prediction errors. The stability criteria of the closed-loop teleoperation system are given in terms of linear matrix inequalities. Simulation studies are given to show the effectiveness of the proposed method.
(Less)
- author
- Li, Yuling
LU
; Yin, Yixin
; Zhang, Sen
; Dong, Jie
and Johansson, Rolf
LU
- organization
- publishing date
- 2020
- type
- Contribution to journal
- publication status
- published
- subject
- in
- Journal of the Franklin Institute
- volume
- 357
- issue
- 2
- pages
- 23 pages
- publisher
- Elsevier
- external identifiers
-
- scopus:85070817715
- ISSN
- 0016-0032
- DOI
- 10.1016/j.jfranklin.2019.04.001
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 4469b8dc-3861-426f-aebc-2c77fc960337
- date added to LUP
- 2021-01-15 10:41:41
- date last changed
- 2023-04-11 04:31:12
@article{4469b8dc-3861-426f-aebc-2c77fc960337,
abstract = {{<p>Composite adaptive control schemes, which use both the system tracking error and the prediction error to drive the updating law, have become widespread in achieving an improvement of system performance. However, a strong persistent-excitation (PE) condition is required to guarantee the convergence of the parameter estimation errors. This paper proposes a novel composite adaptive control for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays, by which the parameter convergence is achieved without the PE condition. The novelty lies in the construction of the prediction errors by designing lower-bounded gain matrices of the prediction errors. The stability criteria of the closed-loop teleoperation system are given in terms of linear matrix inequalities. Simulation studies are given to show the effectiveness of the proposed method.</p>}},
author = {{Li, Yuling and Yin, Yixin and Zhang, Sen and Dong, Jie and Johansson, Rolf}},
issn = {{0016-0032}},
language = {{eng}},
number = {{2}},
pages = {{773--795}},
publisher = {{Elsevier}},
series = {{Journal of the Franklin Institute}},
title = {{Composite Adaptive Control for Bilateral Teleoperation Systems without Persistency of Excitation}},
url = {{http://dx.doi.org/10.1016/j.jfranklin.2019.04.001}},
doi = {{10.1016/j.jfranklin.2019.04.001}},
volume = {{357}},
year = {{2020}},
}