Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model

doi:10.1177/1077546320945472

	Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model
	Li, Le 1; Yang, Hongjun2 ; Liu, Jinkun 1
发表期刊	JOURNAL OF VIBRATION AND CONTROL
ISSN	1077-5463
	2020-08-14
页码	12
通讯作者	Liu, Jinkun(ljk@buaa.edu.cn)
摘要	In this study, we evaluate the coordination tracking control problem of a flexible master-slave teleoperation system. The system under consideration is based on a dynamic model described by a set of partial differential equations. Existing research on bilateral controllers is based on teleoperation systems composed of rigid master robots and rigid or flexible slave robots. In this work, we consider teleoperation systems with flexible master and slave robots. We dynamically model flexible master-slave manipulators using partial differential equations. Based on the dynamic model, a bilateral coordination controller is developed to realize the coordination angle tracking and vibration suppression of flexible master-slave manipulators. The teleoperation system is proven to be asymptotically stable under the control scheme. Numerical simulation results illustrate that the proposed controller is effective.
关键词	Bilateral teleoperation system flexible manipulator coordination control vibration control partial differential equation model
DOI	10.1177/1077546320945472
关键词[WOS]	TELEOPERATION SYSTEM ; SYNCHRONIZATION CONTROL ; DISTURBANCE REJECTION ; VIBRATION CONTROL ; CONTROL DESIGN
收录类别	SCI
语种	英语
资助项目	Research Fund for the National Natural Science Foundation of China[61873296] ; CAS Prospective Deployment Project[ZDRW-KT-2019-1-010402]
项目资助者	Research Fund for the National Natural Science Foundation of China ; CAS Prospective Deployment Project
WOS研究方向	Acoustics ; Engineering ; Mechanics
WOS类目	Acoustics ; Engineering, Mechanical ; Mechanics
WOS记录号	WOS:000560028300001
出版者	SAGE PUBLICATIONS LTD
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/40429
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Liu, Jinkun
作者单位	1.Beihang Univ, Sch Automat Sci & Elect Engn, Xueyuan Rd 37, Beijing 100191, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Li, Le,Yang, Hongjun,Liu, Jinkun. Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model[J]. JOURNAL OF VIBRATION AND CONTROL,2020:12.
APA	Li, Le,Yang, Hongjun,&Liu, Jinkun.(2020).Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model.JOURNAL OF VIBRATION AND CONTROL,12.
MLA	Li, Le,et al."Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model".JOURNAL OF VIBRATION AND CONTROL (2020):12.