High-Performance Adaptive Control of Teleoperation Systems

This book explores high-performance control designs and theoretic analyses for teleoperation systems, including joint space and task space teleoperations, homogeneous and heterogeneous teleoperations, and single-master single-slave and multi-master multi-slave teleoperations. It introduces an adaptive control framework based on auxiliary switched filters and develops tele-coordination methods and adaptive semi-autonomous control methods for multi-robot remote collaboration scenarios. It also examines finite-time control schemes and improved prescribed performance controls to enhance transient-state and steady-state synchronization performances.

Format: Hardback
Length: 297 pages
Publication date: 17 April 2023
Publisher: Taylor & Francis Ltd

Within a unified switched-control framework, this comprehensive book delves into the realm of high-performance control designs and theoretical analyses for teleoperation systems, encompassing a wide range of scenarios. It explores the complexities of joint space and task space teleoperations, homogeneous and heterogeneous teleoperations, as well as single-master single-slave and multi-master multi-slave teleoperations. The book begins with an insightful introduction to the concepts and challenges of networked teleoperation systems, setting the stage for the subsequent chapters.

Subsequently, it investigates a novel adaptive control framework based on auxiliary switched filters, designed to handle model uncertainty and non-passive external forces in bilateral teleoperation systems. This adaptive approach is further extended to address the input constraints of robotic systems, particularly in the context of anti-windup adaptive control. To cater to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are developed.

Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls, aimed at enhancing the transient-state and steady-state synchronization performances of teleoperation systems. This title serves as an indispensable reference for researchers and engineers engaged in teleoperation, robotic systems, and nonlinear control systems. It will also be of great value to graduate students pursuing studies in the fields of science, engineering, and computer science.

Weight: 740g
Dimension: 254 x 178 (mm)
ISBN-13: 9781032465159