High-Performance Adaptive Control of Teleoperation Systems

Cover
Half Title
Title Page
Copyright Page
Dedication
Contents
Preface
SECTION I: Preliminaries
	CHAPTER 1: Introduction
		1.1. BACKGROUNDS
		1.2. TELEOPERATION SYSTEM CONTROL
		1.3. TELEOPERATED CONTROL WITH INPUT SATURATION
		1.4. MULTILATERAL TELE-COORDINATED CONTROL
		1.5. HETEROGENEOUS TELEOPERATION CONTROL
		1.6. HIGH-PERFORMANCE CONTROL OF TELEOPERATION SYSTEMS
		BIBLIOGRAPHY
	CHAPTER 2: Preliminaries of teleoperation control
		2.1. INTRODUCTION
		2.2. ROBOT MODELS
			2.2.1. Lagrange’s equations
			2.2.2. Robotic dynamics
			2.2.3. Important property
			2.2.4. Mathematical descriptions
		2.3. SYSTEM WITH TIME DELAY
			2.3.1. Modeling of time delay
			2.3.2. Functional differential equation
			2.3.3. Switched systems
			2.3.4. Stability of time-delayed system
		2.4. CONCLUSION
		BIBLIOGRAPHY
SECTION II: Single-Master Single-Slave Teleoperation
	CHAPTER 3: Adaptive control of bilateral teleoperation
		3.1. INTRODUCTION
		3.2. PROBLEM FORMULATION
		3.3. ADAPTIVE CONTROLLER DESIGN
		3.4. STABILITY ANALYSIS
		3.5. EXPANSION TO SINGLE-MASTER MULTI-SLAVE TELEOPERATION
		3.6. SIMULATION STUDY
			3.6.1. Stability verification
			3.6.2. Contact stability verification
			3.6.3. Comparison study
		3.7. CONCLUSION
		BIBLIOGRAPHY
	CHAPTER 4: Anti-saturation teleoperation control
		4.1. INTRODUCTION
		4.2. PROBLEM FORMULATION
		4.3. ADAPTIVE CONTROLLER WITH INPUT CONSTRAINT
		4.4. STABILITY ANALYSIS
		4.5. EXPERIMENTAL VALIDATION
			4.5.1. Stability verification
			4.5.2. Comparison study
			4.5.3. Some discussion
		4.6. CONCLUSION
		BIBLIOGRAPHY
SECTION III: Multi-Master Multi-Slave Teleoperation
	CHAPTER 5: Adaptive tele-coordinated control of multiple mobile robots
		5.1. INTRODUCTION
		5.2. PROBLEM FORMULATION
			5.2.1. Dynamics of the master robots
			5.2.2. Dynamics of the slave robots
			5.2.3. Motion control objectives
		5.3. MULTILATERAL COORDINATION CONTROLLER
		5.4. STABILITY ANALYSIS
		5.5. SIMULATION STUDY
		5.6. CONCLUSION
		BIBLIOGRAPHY
	CHAPTER 6: Multilateral tele-coordinated control
		6.1. INTRODUCTION
		6.2. PROBLEM FORMULATION
		6.3. MULTILATERAL COORDINATED CONTROLLER
			6.3.1. Neuroadaptive controller
			6.3.2. Designs of filter subsystems
			6.3.3. Complete closed-loop teleoperation system
		6.4. STABILITY ANALYSIS
		6.5. SIMULATION STUDY
			6.5.1. Stability verification
			6.5.2. Comparison studies
		6.6. CONCLUSION
		BIBLIOGRAPHY
SECTION IV: Heterogeneous Teleoperation
	CHAPTER 7: Adaptive semi-autonomous control of heterogeneous teleoperation systems
		7.1. INTRODUCTION
		7.2. PROBLEM FORMULATION
			7.2.1. Robot dynamics
			7.2.2. Input uncertainty
			7.2.3. Control objectives
		7.3. TASK SPACE TELEOPERATION
		7.4. STABILITY ANALYSIS
		7.5. SEMI-AUTONOMOUS CONTROL OF SLAVE ROBOT
		7.6. SIMULATION
			7.6.1. Stability verification with practical communication delay
			7.6.2. Simulations with large artificial communication delays
			7.6.3. Comparison with the existing work
			7.6.4. Comparison on tracking response for different time delays
			7.6.5. Discussions
		7.7. CONCLUSION
		BIBLIOGRAPHY
SECTION V: Finite-time Teleoperation
	CHAPTER 8: Adaptive finite-time teleoperation control
		8.1. INTRODUCTION
		8.2. PROBLEM FORMULATION
		8.3. FINITE-TIME CONTROLLER
		8.4. STABILITY ANALYSIS
		8.5. SIMULATION
			8.5.1. Stability verification
			8.5.2. Comparison study
		8.6. CONCLUSION
		BIBLIOGRAPHY
	CHAPTER 9: Finite-time adaptive anti-windup teleoperation control
		9.1. INTRODUCTION
		9.2. PROBLEM FORMULATION
		9.3. ANTI-WINDUP FINITE-TIME CONTROLLER
		9.4. STABILITY ANALYSIS
		9.5. SIMULATION STUDY
			9.5.1. Stability verification
			9.5.2. Comparisons with the asymptotic control methods
			9.5.3. Comparisons with the finite-time control methods
		9.6. CONCLUSION
		BIBLIOGRAPHY
SECTION VI: Prescribed-performance Teleoperation
	CHAPTER 10: Prescribed performance task-space teleoperation control
		10.1. INTRODUCTION
		10.2. PROBLEM FORMULATION
			10.2.1. Dynamics of robots
			10.2.2. Control objectives
		10.3. ADAPTIVE CONTROLLER
			10.3.1. PPC strategy
			10.3.2. Design of the control torque
			10.3.3. Complete closed-loop teleoperation system
		10.4. STABILITY ANALYSIS
		10.5. SIMULATION STUDY
			10.5.1. Stability verification with artificial delays
			10.5.2. Stability verification with practical delays
			10.5.3. Comparisons on task performance
			10.5.4. Comparison study with varying time delays
			10.5.5. Discussions
		10.6. CONCLUSION
		BIBLIOGRAPHY
	CHAPTER 11: Practical given performance control of robotic systems
		11.1. INTRODUCTION
		11.2. PROBLEM FORMULATION
			11.2.1. Dynamics of the robotic vehicle
			11.2.2. Switching-based PPLC strategy
		11.3. ADAPTIVE CONTROLLER
		11.4. STABILITY ANALYSIS
		11.5. APPLICATION TO TELEOPERATION SYSTEM
		11.6. SIMULATION STUDY
			11.6.1. Stability verification
			11.6.2. Function verification of PPLC
			11.6.3. Comparison studies
			11.6.4. Discussions
		11.7. CONCLUSION
		BIBLIOGRAPHY