Extended-state-observer-based finite-time synchronization control design of teleoperation with experimental validation

Chen, Hua; Li, Jing; Yang, Yanyan; Guan, Xinping

doi:10.1007/s11071-016-2687-3

Cited by 16 publications

(10 citation statements)

References 37 publications

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“…[39]- [40] design a NFTSM control algorithm by adding a new online switching controller to switch the sliding surface from TSM to LSM. However, such approach may cause discontinuity.…”

Section: Lemmamentioning

confidence: 99%

“…Therefore, it can be concluded that the dynamic uncertainties can be compensated by the proposed state observer. The proposed state observer is an extension of the state observer in [40]. There are two unsolved problems of the state observer in [40].…”

Section: E Dealing With Varying Zero Driftmentioning

confidence: 99%

“…The proposed state observer is an extension of the state observer in [40]. There are two unsolved problems of the state observer in [40]. Firstly, only the errors between 1 and with a constant gain are applied in the state observer.…”

Section: E Dealing With Varying Zero Driftmentioning

confidence: 99%

“…Nevertheless, the above teleoperation systems could only maintain stability in the presence of constant time delays. In [18], an NFTSM-based teleoperation system is designed that could be used under time-varying delays by adding additional buffers to keep the delays constant. However, such a method can increase the overall time delays and is hard to pre-set.…”

mentioning

confidence: 99%

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Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Sun

Liao

et al. 2019

IEEE Trans. Cybern.

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This paper develops an innovative multilateral teleoperation system with two haptic devices on the master side and a newly designed reconfigurable multi-fingered robot on the slave side. A novel nonsingular fast terminal sliding-mode algorithm, together with varying dominance factors for cooperation, is proposed to offer this system's fast position and force tracking, as well as an integrated perception for the operator on the reconfigurable slave robot (manipulator). The Type-2 fuzzy model is used to describe the overall system dynamics, and accordingly a new fuzzy-model-based state observer is proposed to compensate for system uncertainties. A sliding-mode adaptive controller is designed to deal with the varying zero drift of the force sensors and force observers. The stability of the closed-loop system under time-varying delays is proved using Lyapunov-Krasovskii functions. Finally, experiments to grasp different objects are performed to verify the effectiveness of this multilateral teleoperation system.

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“…[39]- [40] design a NFTSM control algorithm by adding a new online switching controller to switch the sliding surface from TSM to LSM. However, such approach may cause discontinuity.…”

Section: Lemmamentioning

confidence: 99%

Section: E Dealing With Varying Zero Driftmentioning

confidence: 99%

Section: E Dealing With Varying Zero Driftmentioning

confidence: 99%

mentioning

confidence: 99%

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Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Sun

Liao

et al. 2019

IEEE Trans. Cybern.

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“…e NLSEF was adopted to confine errors in the systems, and the ESO was widely utilized to estimate the unknown disturbances of nonlinear systems [35][36][37].…”

Section: Introductionmentioning

confidence: 99%

A Sliding Mode Control with Nonlinear Fractional Order PID Sliding Surface for the Speed Operation of Surface‐Mounted PMSM Drives Based on an Extended State Observer

Peng

Zhang

Ouyang

et al. 2019

Mathematical Problems in Engineering

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A novel sliding mode controller (SMC) with nonlinear fractional order PID sliding surface based on a novel extended state observer for the speed operation of a surface-mounted permanent magnet synchronous motor (SPMSM) is proposed in this paper. First, a new smooth and derivable nonlinear function with improved continuity and derivative is designed to replace the traditional nonderivable nonlinear function of the nonlinear state error feedback control law. Then, a nonlinear fractional order PID sliding mode controller is proposed on the basis of the fractional order PID sliding surface with the combination of the novel nonlinear state error feedback control law to improve dynamic performance, static performance, and robustness of the system. Furthermore, a novel extended state observer is designed based on the new nonlinear function to achieve dynamic feedback compensation for external disturbances. Stability of the system is proved based on the Lyapunov stability theorem. The corresponding comparative simulation results demonstrate that the proposed composite control algorithm displays good stability, dynamic properties, and strong robustness against external disturbances.

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Feedback optimization problem for master–slave teleoperation tracking in the presence of random noise in dynamics and feedback

et al. 2016

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Extended-state-observer-based finite-time synchronization control design of teleoperation with experimental validation

Cited by 16 publications

References 37 publications

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

A Sliding Mode Control with Nonlinear Fractional Order PID Sliding Surface for the Speed Operation of Surface‐Mounted PMSM Drives Based on an Extended State Observer

Feedback optimization problem for master–slave teleoperation tracking in the presence of random noise in dynamics and feedback

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