This paper addresses the problem of asymptotic stability and position tracking in nonlinear teleoperation systems interacting with non-passive operator and environment. A nonlinear control law which is designed based on Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) scheme, uses the positions and velocities of the joints of manipulators to provide asymptotic stability of tracking errors. Using the Lyapunov–Krasovskii theorem, sufficient conditions are derived in terms of computationally amenable Linear Matrix Inequalities (LMIs), to tune the controller parameters in the presence of asymmetrical varying time delay in the communication channel. The proposed controller synthesis methodology requires no known passive part in the dynamical model of interaction forces. Moreover, using the integral control notion, the asymptotic stability of the synchronization errors is assured. Comparative simulation results are presented to demonstrate the superiority of the proposed method compared to some rival ones. Finally, experimental results from a laboratory teleoperator are reported to confirm the applicability of the introduced scheme.

中文翻译：

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具有非被动相互作用力的非线性遥操作系统的基于被动的控制

本文解决了与非被动算子和环境相互作用的非线性遥操作系统的渐近稳定性和位置跟踪问题。基于互连和阻尼分配基于无源控制（IDA-PBC）方案设计的非线性控制律，利用机械手关节的位置和速度来提供跟踪误差的渐近稳定性。使用Lyapunov–Krasovskii定理，根据可计算的线性矩阵不等式（LMI）得出了足够的条件，以在通信信道中存在不对称变化的时延的情况下调整控制器参数。所提出的控制器综合方法不需要相互作用力动力学模型中的已知被动部分。而且，使用积分控制概念 保证了同步误差的渐近稳定性。对比仿真结果表明，与其他竞争对手相比，该方法具有优越性。最后，报告了来自实验室远程操作员的实验结果，以证实所引入方案的适用性。