This paper proposes a robust adaptive algorithm that effectively copes with time-varying delay and uncertainties in Internet-based teleoperation systems. Time-delay induced by the communication network, as a major problem in teleoperation systems, along with uncertainties in modeling of robotic manipulators and remote environment warn the stability and performance of the system. A robust adaptive control algorithm is developed to deal with the system uncertainties and to provide a smooth estimation of delayed reference signals. The proposed control algorithm generates chattering-free torques which is one of the practical considerations for robotic applications. In addition, the achieved input-to-state stability gains do not necessarily require high gain control torques to retain the system’s stability. Experimental simulation studies validate the effectiveness of the proposed control strategy on a teleoperation system consisting of a Phantom Omni Haptic device and SimMechanics model of the industrial manipulator UR10. The validation of the proposed control methodology was executed through a real-time Internet-based communication established over 4G mobile networks between Australia and Scotland.

中文翻译：

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具有时延和不确定性的遥操作系统的鲁棒自适应控制方案。

本文提出了一种鲁棒的自适应算法，该算法可以有效地应对基于Internet的远程操作系统中的时变延迟和不确定性。通信网络引起的时间延迟是远程操作系统中的一个主要问题，再加上机器人操纵器建模和远程环境的不确定性，警告了系统的稳定性和性能。开发了鲁棒的自适应控制算法来处理系统不确定性并提供延迟参考信号的平滑估计。所提出的控制算法产生无颤动的转矩，这是机器人应用的实际考虑因素之一。另外，获得的输入到状态稳定性增益不一定需要高增益控制扭矩来保持系统的稳定性。实验仿真研究验证了所提出的控制策略在由Phantom Omni触觉设备和工业机械手UR10的SimMechanics模型组成的远程操作系统上的有效性。通过在澳大利亚和苏格兰之间的4G移动网络上建立的基于Internet的实时通信，对所提出的控制方法进行了验证。