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Active Disturbance Rejection Control for Teleoperation Systems with Actuator Saturation
Author(s) -
Zhao Ling,
Liu Lei,
Wang Yingjie,
Yang Hongjiu
Publication year - 2019
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1767
Subject(s) - teleoperation , control theory (sociology) , nonlinear system , actuator , disturbance (geology) , lyapunov function , active disturbance rejection control , control engineering , engineering , saturation (graph theory) , computer science , state observer , robot , control (management) , mathematics , artificial intelligence , physics , geology , paleontology , quantum mechanics , combinatorics
In this paper, stabilization of a nonlinear bilateral teleoperation system with time delays and actuator saturation is investigated via active disturbance rejection control (ADRC). An linear extended state observer is introduced to deal with the lumped system uncertainties. Lyapunov functions are given to prove the stabilization of the closed‐loop bilateral teleoperation system. Two Phantom Premium 1.5 HighForce (HF) robot manipulators are used in experiments to demonstrate the effectiveness of the proposed method in this paper.