In this paper, the problem of position tracking in the teleoperation systems subject to external forces is considered. An adaptive control algorithm and adaptive laws are proposed based on nonlinear disturbance observer in order to address the tracking error caused by external forces in the presence of constant communication time delays. First, we present a control algorithm based on the observer in the joint space for teleoperation system with uncertain dynamics; Then, to relax the assumption of identical robots, the adaptive control algorithm is extended in task space under the condition that both robots kinematic and dynamic parameters are uncertain. The stability of the proposed control algorithms incorporated with the nonlinear disturbance observer is presented based on the Lyapunov–Krasovskii criterion, and global uniform ultimate boundedness of tracking errors is achieved. Simulation results are given to validate the performance of the system utilizing the proposed controller-observer scheme.

在本文中，考虑了受外力作用的远程操作系统中的位置跟踪问题。提出了一种基于非线性扰动观测器的自适应控制算法和自适应律，以解决在存在恒定通信时延的情况下外力引起的跟踪误差。首先，针对动力学不确定的遥操作系统，提出了一种基于观测器的联合空间控制算法。然后，为放松对相同机器人的假设，在机器人运动学和动态参数均不确定的情况下，在任务空间中扩展了自适应控制算法。基于Lyapunov–Krasovskii准则，提出了与非线性干扰观测器相结合的控制算法的稳定性，从而实现了跟踪误差的全局统一极限界。仿真结果给出了利用所提出的控制器-观察者方案来验证系统性能的方法。