Novel Adaptive Finite-Time Control of Teleoperation System With Time-Varying Delays and Input Saturation

Zhang, Haochen; Song, Aiguo; Li, Huijun; Shen, Shaobo

doi:10.1109/tcyb.2019.2924446

Cited by 46 publications

(30 citation statements)

References 46 publications

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“…This limits its practical applications in some circumstances because numerical derivatives might be to noisy to compute in the controller. It is obviously different from the existing methods in [1,10], the proposed controller (16) based on terminal sliding-mode control structure is first established to achieve finite time satisfactions in the absence of relative velocity. Additionally, due to the difference in choosing the Lyapunov function candidate (22) in compare with [2] by eliminating the term e T k e e, the convergence of sliding variables and tracking errors is sequentially implemented in Theorem 1.…”

Section: Finite-time Control For Teleoperators With Disturbancementioning

confidence: 99%

“…By considering the model of Euler-Lagrange equations, the following properties can be employed for designing the controller in this paper that Property 1. For a vector, i ∈ ℝ n , the robot dynamics in (1) can be written as parameterizable linearization such that M i (q i )̇i…”

Section: Preliminary and Problem Statementmentioning

confidence: 99%

“…Theorem 1. Consider the nonlinear bilateral teleoperators given by (1) under the controller (16), (19), (18) with the passive human/environmental force (2) and the equivalent nominal parameter vector Θ i 0 , bounded term i 0 and positive control coefficients i , d i , i , i . The coordination errors, e l and e r , and all signals of the closed-control system are uniformly ultimately bounded (UUB).…”

Section: Finite-time Control For Teleoperators With Disturbancementioning

confidence: 99%

“…Recently, the development of control algorithms to deal with actuator saturation, full-state constraint, and finite-time control has become an emerging topic in the communities of control and robotics [8,9]. For bilateral teleoperation systems, [1] presents the solution of finite-time convergence based on the considering terminal sliding mode control as well as integrating more the exponential This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited. © 2021 The Authors.…”

Section: Introductionmentioning

confidence: 99%

“…Lemma [1] Considering the system described as

\frac{d x}{d t} = f false(x false)

and there exists a continuous positive differentiable function

V : U ∖ false{0 false} \to {double-struckR}^{+}

, satisfying

\frac{d}{d t} V false(x false) \leq - μ V^{σ} false(x false) + δ, x \in U_{0} ∖ false{0 false}

, where

0 < σ < 1, μ > 0, δ > 0

, and

U_{0} \subset U ∖ false{0 false}

is an open neighborhood of the origin. Then, the system is finite‐time stable.…”

Section: Introductionmentioning

confidence: 99%

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Finite‐time convergence for bilateral teleoperation systems with disturbance and time‐varying delays

Nam

Nguyen

Liu

2021

IET Control Theory & Appl

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This paper addresses the robust finite-time sliding mode control algorithms for nonlinear bilateral teleoperators in the presence of variable time delays and disturbances. In this paper, the designs of terminal sliding control are proposed to guarantee the finite-time convergence of not only the sliding variables but also the coordination errors on position tracking. The proposed control algorithm is able to ensure finite-time convergence without requiring the relative velocities and power signal in the communication channel. Additionally, the finite-time controller is developed with additional terms of sign and exponential function to tackle the variable time delay between two sides in bilateral teleoperators. The Lyapunov synthesis principle and additional lemmas are exploited to ensure the finite-time stability of the closed-loop system in the presence of delays and disturbance. The situations of free-motion, passive, and non-passive human/environment forces are considered for finite-time convergence without the need of acceleration signals. Finally, numerical examples and experimental studies are carried out to illustrate the effectiveness of the proposed controllers.

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Section: Finite-time Control For Teleoperators With Disturbancementioning

confidence: 99%

Section: Preliminary and Problem Statementmentioning

confidence: 99%

Section: Finite-time Control For Teleoperators With Disturbancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…Lemma [1] Considering the system described as

\frac{d x}{d t} = f false(x false)

and there exists a continuous positive differentiable function

V : U ∖ false{0 false} \to {double-struckR}^{+}

, satisfying

\frac{d}{d t} V false(x false) \leq - μ V^{σ} false(x false) + δ, x \in U_{0} ∖ false{0 false}

, where

0 < σ < 1, μ > 0, δ > 0

, and

U_{0} \subset U ∖ false{0 false}

is an open neighborhood of the origin. Then, the system is finite‐time stable.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Finite‐time convergence for bilateral teleoperation systems with disturbance and time‐varying delays

Nam

Nguyen

Liu

2021

IET Control Theory & Appl

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Adaptive event‐triggered synchronization control for bilateral teleoperation system subjected to fixed‐time constraint

Zhao

Liu

Wang

2022

Adaptive Control & Signal

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Summary The time‐constrained positional synchronization control problem for a class of bilateral teleoperation systems is investigated and a novel fixed‐time event‐triggered control scheme is developed. Different from existing methods, the controller is triggered in a nonperiodic manner, which reduces considerably the triggering frequency of control devices. This not only saves communication resource, but also extends the lifespan of system devices because of the reduction of switching times. The control settling time is further considered by introducing a fixed‐time stability theorem. Theoretical analysis as well as a simulation example verifies that the proposed control method can reduce remarkably the amount of control signals transmitted between the master and slave while ensuring that the system output tracking error converges to a small neighborhood close to zero within a fixed‐time frame.

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Fault‐tolerant controller design for nonlinear systems with multiple input and state delays based on sliding mode algorithm

Azmi

Yazdizadeh

2022

Intl J Robust & Nonlinear

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In this article, a novel sliding mode control (SMC) strategy for nonlinear Lipschitz systems with multiple and dissimilar time delays in the states and inputs is proposed. Using linear matrix inequality, a modified integral sliding surface scientifically based on which the innovative SMC approach is developed. Lyapunov–Krasovskii's theory is employed to guarantee asymptotic stability of the closed‐loop system, such that states starting from any arbitrary initial conditions reach the sliding surface in a finite time and stay on it for all subsequent time. It is also proved that the practical effects of the actuator's faults are simultaneously attenuated. An online adaptive tuning law is used to estimate and isolate actuators' possible faults reliably. From the implementation point of view, the controller structure is more straightforward than the most existing recent fault‐tolerant control methods. Simulation results performed on practical nonlinear systems (quadruple tank and industrial continuous stirred tank reactor) verified the outstanding merits of the proposed approach. The operational capabilities of the proposed scheme in the presence of actuators' faults and multiple delays in the states and inputs were also demonstrated.

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Novel Adaptive Finite-Time Control of Teleoperation System With Time-Varying Delays and Input Saturation

Cited by 46 publications

References 46 publications

Finite‐time convergence for bilateral teleoperation systems with disturbance and time‐varying delays

Finite‐time convergence for bilateral teleoperation systems with disturbance and time‐varying delays

Adaptive event‐triggered synchronization control for bilateral teleoperation system subjected to fixed‐time constraint

Fault‐tolerant controller design for nonlinear systems with multiple input and state delays based on sliding mode algorithm

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