Adaptive stabilization of nonlinear teleoperation systems: An SIIOS approach

In this paper, the adaptive control problem of nonlinear teleoperation system based on the point of view of state-independent input-to-output stability is addressed. By intentionally introducing the switched filter systems, a new IOS-based control framework based on subsystem decomposition is developed. By designing the proper nonlinear controller, the complete closed-loop system is first modeled into two interconnected subsystems with some well-defined auxiliary variables. Then utilizing the small gain theorem, the weakly state-independent input-to-output stability of complete system can be derived by the stability of each subsystem. As an important extension, the proposed control scheme is also proved to be suitable for the control of the single-master-multi-slave teleoperation systems. Finally, the numerical example is given to demonstrate the effectiveness.