Abstract
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A novel approach applying the extended
prescribed performance control (PPC) and the wavebased
time domain passivity approach (wave-based
TDPA) to teleoperation systems is proposed. With the
extended PPC, a teleoperation system can synchronize
position, velocity and force. Moreover, by combining
with the extended wave-based TDPA, the overall system’s
passivity is guaranteed in the presence of arbitrary
time delays. The system’s stability and performance
are analyzed by using Lyapunov functions. The
method is validated through experimental work based
on a 3-DOF bilateral teleoperation system. The experimental
results showthat the proposed control algorithm
can robustly guarantee the master–slave system’s passivity
and simultaneously provide high tracking performance
of position, velocity and measured force signals.