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.

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