Overview

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 teleoperations, the homogeneous and heterogeneous teleoperations, and the single-master single-slave and multi-master multi-slave teleoperations.

Introduction and Concepts

The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces.

Adaptive Control and Extensions

To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed.

Control Schemes and Performance Improvements

Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls for teleoperation systems to improve the transient-state and steady-state synchronization performances.

Target Audience

This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful to graduate students in the fields of science, engineering, and computer science.