Adaptive Finite-Time Synchronization Control for Teleoperation System With Varying Time Delays | Zendy

Haochen Zhang | Zendy; Aiguo Song | Zendy; Shaobo Shen | Zendy

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Adaptive Finite-Time Synchronization Control for Teleoperation System With Varying Time Delays

Author(s) -

Haochen Zhang,

Aiguo Song,

Shaobo Shen

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2857802

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

In practical application, the synchronization tracking of teleoperation system requires the fast speed and strong robustness. It is the ideal control effect that the synchronization errors between master and slave robots can converge to zero in finite time. In this paper, we propose the new nonsingular terminal sliding mode and the adaptive finite-time control method for position tracking in teleoperation system. First, a novel nonsingular terminal sliding mode is designed to provide higher tracking precision and robustness. Second, the radial basis function neural networks are applied to solve dynamic uncertainties, and the adaptive laws are proposed to estimate the uncertain parameters and upper bounds of estimation. Then, the corresponding finite-time controllers of master and slave robots are designed. Third, based on the Lyapunov stability theory, synchronization performances of the closed-loop system are proved to be stable state and finite time. Finally, simulations are achieved, and some comparisons with two nonsingular terminal sliding mode control schemes and two PD methods are shown. The simulation results verify the effectiveness of the proposed control laws.

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