Design and Implementation of Adaptive Cooperative Teleoperation Systems with Force Feedback

This is a two-year project, aiming to construct a graph theory based cooperative teleoperation system with force feedback. In addition, a teleoperation experimental platform will be developed to investigate the proposed adaptive fuzzy sliding model control scheme. The topics of concern include the theoretic derivations and platform development of adaptive cooperative teleoperation systems. In the theoretic parts, consensus algorithm will be applied to determine the necessary parameter conditions for fuzzy sliding-mode controllers to overcome the effects caused by modeling uncertainties, partial loss of actuator effectiveness and communication time delays. The associated closed-loop stability will be addressed with the consideration of adaptive controllers and learning algorithms. To validate the feasibility of proposed adaptive control scheme, a multi-master multi-slave teleoperation platform will be constructed to verify the prosed works. This experimental platform contains the following modules: embedded control kernel, force-feedback devices, driver/sensor modules, and communication interface. The outcomes of this project include the distributed adaptive controller design and experimental development that should be helpful in the progress of cooperative force-feedback teleoperation systems.

Project ID:PB10507-1879
External Project ID:MOST105-2221-E182-040