High-Performance Adaptive Control of Teleoperation Systems

Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperation, the homogeneous and heterogeneous teleoperation, and the single-master single-slave and multi-master multi-slave teleoperation.

Di-Hua Zhai is associate professor of the School of Automation (Beijing) and the Yangtze Delta Region Academy (Jiaxing), at Beijing Institute of Technology, China. His research interests include teleoperation, intelligent robot, human-robot collaboration, switched control, optimal control, constrained control, and networked control. Yuanqing Xia is currently a professor at Beijing Institute of Technology, China. His research interests are in the fields of cloud control systems, networked control systems, robust control and signal processing, active disturbance rejection control, unmanned system control, and flight control.

Section I Preliminaries 1. Introduction 2. Preliminaries of Teleoperation Control Section II Single-Mater Single-Slave Teleoperation 3. Adaptive control of bilateral teleoperation 4. Anti-saturation teleoperation control Section III Multi-Mater Multi-Slave Teleoperation 5. Adaptive tele-coordinated control of multiple mobile robots 6. Multilateral tele-coordinated control Section IV Heterogeneous Teleoperation 7. Adaptive semi-autonomous control of heterogeneous teleoperation Systems Section V Finite-time Teleoperation 8. Adaptive finite-time teleoperation control 9. Finite-time adaptive anti-windup teleoperation control Section VI Prescribed-performance Teleoperation 10. Prescribed performance task-space teleoperation control 11. Practical given performance control of robotic systems