Journal of Astronautics ›› 2015, Vol. 36 ›› Issue (4): 410-418.doi: 10.3873/j.issn.1000-1328.2015.04.007

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A Switching Control Law Based Bilateral Teleoperation Approach for Robot

CHEN Zhang, LIANG Bin, ZHANG Tao, SONG Hai tao, ZHANG Bo   

  1. 1. Department of Automation, Tsinghua University, Beijing 100084,China;
    2. Key Laboratory of Advanced Control and Optimization for Chemical Processes, Shanghai 200237, China;
     3 Shenzhen Research Institute, the Chinese University of Hong Kong, Shenzhen 518057, China
  • Received:2014-04-21 Revised:2014-07-02 Online:2015-04-15 Published:2015-04-25


For the multi-degree of freedom teleoperation in task space under time-varying delays, in order to ensure stability of the system, and meanwhile to achieve the ideal operation performance, a new switching control law with varying gains based on a proportional differential (PD) damping task space bilateral controller is proposed. The control gains are designed to match the performance requirements according to different operation modes. A transition mode is introduced into the switching law to ensure the stability of the system when contacts happen. The stability of each mode and its switching rule is proved by using the Lyapunov theorem. The simulation of a typical mission shows the effectiveness of the proposed controller. Also, a series of contrast simulations demonstrate the controller′s superiorities in stability and operation performance.

Key words: Teleoperation, Bilateral control, Switching control, Stability

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