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Adaptive finite‐time control for bilateral teleoperation systems with jittering time delays
Author(s) -
Wang Ziwei,
Chen Zhang,
Zhang Yiman,
Yu Xingyao,
Wang Xiang,
Liang Bin
Publication year - 2018
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4423
Subject(s) - teleoperation , settling time , control theory (sociology) , computer science , controller (irrigation) , synchronization (alternating current) , convergence (economics) , adaptive control , robust control , integrator , scheme (mathematics) , control system , control (management) , control engineering , bandwidth (computing) , mathematics , artificial intelligence , engineering , step response , computer network , agronomy , channel (broadcasting) , electrical engineering , biology , economics , economic growth , mathematical analysis
Summary In this paper, we present a robust adaptive control algorithm for a class of bilateral teleoperation systems with system uncertainties and jittering time delays. The remarkable feature of jittering delays is that time delays change sharply and randomly. Conventional controllers would fail because jittering time delays introduce serious chattering. To address the jittering issue, a novel jittering‐free scheme is developed by relaxing and extending the frequently used constant upper bound. Moreover, an adaptive law was incorporated with the Chebyshev neural network to deal with the system uncertainties. To obtain finite‐time synchronization performance, a fast terminal sliding mode controller is proposed through the technique of “adding a power integrator.” With the proposed control scheme, the robust finite‐time convergence performance is guaranteed. The settling time can be further calculated with the controller parameters. The simulation and experiment results have demonstrated the effectiveness of the proposed method.