Adaptive time‐varying formation control for teleoperation system: A finite‐time approach

Abstract

In this article, the finite-time formation control scheme is put forward for teleoperation system with time delay. First, a group of finite-time observers are established to address the teleoperation system with time-varying delay issue and via linearly parameterize to deal with the uncertainty in the system. The theory of self-stable domain (SSR) is then applied to provide sufficient circumstances for the observers error dynamics to converge in finite-time. Then, in line with the estimation of time delay derivatives to reconstruct the regression matrix as well as the adaptive law, the observer based time-varying formation control protocol is drawn up. On the basis of finite-time state-independent input-to-output practical stable (FTSIIOpS) theorem, sufficient conditions for teleoperation implement time-varying formation are developed. Finally, simulation is being used to validate the efficiency of the proposed strategy. K E Y W O R D Sfinite-time control, teleoperation system, time delay observer, time-varying formation INTRODUCTIONWith the advancement of automation and robotics, teleoperation system can extend the ability of human operators to work in remote, unstructured, and dangerous environments, with applications in vast areas such as nuclear exploration, medico-surgery, subsea exploration, and military operations. 1 Teleoperation system consists of master-slave robots linked 750

Prescribed‐time adaptive bipartite time‐varying formation tracking for multiple Lagrangian systems with arbitrary disturbance

“…As the most fundamental theme of collaborative behavior, consensus is to achieve a common state for specific variables under appropriate control algorithms that satisfy local interaction rules, playing a crucial role in practical engineering applications such as power electronic, unmanned air vehicles, and mobile robots. On this basis, other collective behaviors were further developed, including bipartite consensus, [1][2][3] formation tracking, [4][5][6] containment, 7 flocking 8 and so forth.…”