在主从机械手遥操作实现力、位移协同一致跟踪控制过程中，存在着机械手关节摩擦以及外部不确定干扰引起的模型不确定的问题，针对此问题提出了双边自适应阻抗控制策略.通过设计两种非线性模型参考自适应控制器，设计基于滑模函数的鲁棒自适应控制律补偿机械手模型不确定误差；利用自适应律估计外界干扰的上界，保证了主从机械手闭环动态方程与参考阻抗模型动态方程相一致，实现了主从机械手末端对参考阻抗模型输出的期望位置误差渐进收敛于零.通过李雅普诺夫函数证明了跟踪性能与全局稳定性，在MATLAB/Simulink平台上实现了二自由度机械手遥操作仿真实验.结果表明：整体控制在模型不确定及外部干扰条件下具有很好的力-位置跟踪渐进收敛能力，整体系统具有稳定性和较高的透明性，并且具有鲁棒性及较小的稳态误差，具有自适应控制能力.
In the process of force-displacement tracking control in the bilateral teleoperation system, there are uncertainties caused by the joint friction and external uncertainty disturbance in the manipulator model. Therefore, a bilateral adaptive impedance control strategy is proposed for the problems in the teleoperation system. A robust adaptive control law based on sliding mode function is designed to compensate the uncertain errors of the manipulator model, and two kinds of non-linear model reference adaptive controller are designed. The adaptive law is employed to estimate the upper bound of the external disturbance, which ensures that the closed-loop dynamic equations of the master and slave robots are consistent with the dynamic equations of the reference impedance model, and realizes that the expected position error of the reference impedance model output and the end-effector position of the master and slave robots asymptotically converge to zero. The Lyapunov function is employed to prove the tracking performance and global stability. A 2 degree of freedom (DOF) teleoperation simulation is achieved on the MATLAB/Simulink platform, and the force-position tracking asymptotic convergence ability is verified. The results show that the overall controller has a good force-position tracking ability under the conditions of model uncertainty and external disturbances. The overall system has stability and a high transparency, and it has robustness and small steady-state error with adaptive control capability.
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