Position and velocity synchronization in bilateral teleoperation in presence of stochastic disturbances in control inputs

Sakha, Masoud Seyed; Hashemzadeh, Farzad; Tavakoli, Mahdi

doi:10.1109/smc.2017.8122945

Cited by 1 publication

(1 citation statement)

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“…In practice, many mechanical systems are affected by stochastic disturbances which can influence the performance of the control system in an uncertain manner Crandall and Mark (2014); therefore, many pieces of research have been done in the stability analysis Deng et al (2001), Khasminskii (2011), Mao (2007) and control Deng and Krstic (1999); Wu et al (2010), Cui et al (2013) for this kind of systems. Adaptive control methods for different stochastic Lagrangian dynamical systems are presented in Cui et al (2013), Sakha and Shaker (2017), and Sakha et al (2017), which use the concept of exponential practical stability Khasminskii (2011), Mao (2007), Lakshmikantham et al,. (1990).…”

Section: Introductionmentioning

confidence: 99%

Adaptive control of free-floating manipulator in presence of stochastic input disturbances and unknown dynamical parameters

Sakha

Kharrati

Mehdifar

2021

Journal of Vibration and Control

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The trajectory tracking problem of a free-floating manipulator with dynamical uncertainties and stochastic input disturbances is solved in this study. First, the free-floating manipulator is mapped to a conventional fixed base dynamically equivalent manipulator. Then, by using the well-known properties of a revolute joint manipulator and taking into account the random disturbances with unknown power spectral density in control inputs, an adaptive controller scheme is developed. The proposed technique uses the exponential practical stability concept which guarantees that the tracking error and its derivative converge to an arbitrarily small neighborhood of zero by appropriate tuning of the controller’s parameters. It is noteworthy that the proposed controller does not need any physical parameters of the robot. Simulation studies demonstrate the effectiveness and capability of the proposed method for trajectory tracking in the presence of unknown stochastic input disturbances and dynamical uncertainties.

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