Active Disturbance Rejection Control for Teleoperation Systems with Actuator Saturation

作者：Zhao, Ling^*; Liu, Lei; Wang, Yingjie; Yang, Hongjiu

来源：Asian Journal of Control, 2019, 21(2): 702-713.

DOI：10.1002/asjc.1767

• Teleoperation system
• actuator saturation
• active disturbance rejection control
• domain of attraction

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.

• 出版日期2019-3
• 单位燕山大学