Scholarlink

This study proposes a proportional-derivative (P+d) controller with adaptive damping compensation for single master dual slave (SMDS) telerobotic system. In contrast to conventional P+d controllers, this work proposes an adaptive damping compensation mechanism based on position tracking error feedback, which dynamically adjusts damping parameters to improve transient response characteristics and enhance system robustness against environmental disturbances. RBF neural networks and adaptive methods are introduced to estimate the uncertain parts of dynamic models and external applied forces. The closed-loop stability of SMDS telerobotic systems has been established through Lyapunov-Krasovskii analysis, and the analytical framework between proportional-derivative gain parameters and maximum time delays are presented. Simulations are conducted to verify the stability and effectiveness of the system.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

A Novel Synchronization Control Scheme for Time-Delayed SMDS Teleoperation System with Damping Adjustment

  • 会议论文

  • 发表日期：

    2026年

查看全文
  • Jiangning Wen,
  • Haochen Zhang,
  • Dingbiao Zhang,
  • Shaobo Shen,
  • Liyue Fu,
  • Weirong Liu,
  • Er Chao Li,
  • Jinyan Li,
  • Zhuoyue Zhang

摘要

This study proposes a proportional-derivative (P+d) controller with adaptive damping compensation for single master dual slave (SMDS) telerobotic system. In contrast to conventional P+d controllers, this work proposes an adaptive damping compensation mechanism based on position tracking error feedback, which dynamically adjusts damping parameters to improve transient response characteristics and enhance system robustness against environmental disturbances. RBF neural networks and adaptive methods are introduced to estimate the uncertain parts of dynamic models and external applied forces. The closed-loop stability of SMDS telerobotic systems has been established through Lyapunov-Krasovskii analysis, and the analytical framework between proportional-derivative gain parameters and maximum time delays are presented. Simulations are conducted to verify the stability and effectiveness of the system.