Abstract: 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.

Key words: teleoperation, impedance control, force-position tracking, robustness, adaptive law