Bilateral coordination quantisation control for master-slave flexible manipulators based on PDE dynamic model

This paper investigates a tracking adaptive control issue of the master-slave flexible system with input signal quantisation. Considering the distributed parameter characteristics of the flexible manipulator, the master-slave teleoperation system is a dynamic model described by partial differential equations. In this work, an adaptive boundary bilateral coordination quantisation control scheme is developed such that input signal quantisation can be achieved by applying random quantiser. Based on such control strategy, all signals of the closed-loop system are bounded and Lyapunov method is used to prove uniform ultimate boundedness of the control system. The proposed control law can not only effectively eliminate the deflection of the flexible link but also realise angle coordination. The numerical simulation results are provided for illustrating the control effectiveness.