Back to Search
Start Over
Finite-Time Control of Teleoperation Systems With Input Saturation and Varying Time Delays.
- Source :
- IEEE Transactions on Systems, Man & Cybernetics. Systems; Jul2017, Vol. 47 Issue 7, p1522-1534, 13p
- Publication Year :
- 2017
-
Abstract
- This paper develops a finite-time control approach for nonlinear teleoperation systems, which is capable of unifying the study of model uncertainties, actuator saturation, and asymmetric time-varying delays in the same framework. First, a novel anti-windup compensator is designed to analyze the effect of actuator saturation. To achieve the finite-time tracking, a nonsmooth generalized switched filter is also investigated. By introducing the anti-windup compensator and the generalized switched filter into the adaptive fuzzy control torque design, a novel finite-time controller is developed. By using the multiple Lypaunov–Krasovskii functionals method, the resulting closed-loop system is state-independent input-to-output practical stable (SIIOpS) and based on this, it is proved to be finite-time SIIOpS. It is shown that the asymptotic convergence of the adaptive estimation errors and the finite-time convergence of the position tracking errors are obtained, whether the robots contact with the human operator/environment or not. Finally, the effectiveness is demonstrated by the simulation results. [ABSTRACT FROM AUTHOR]
- Subjects :
- REMOTE control
TIME delay systems
Subjects
Details
- Language :
- English
- ISSN :
- 21682216
- Volume :
- 47
- Issue :
- 7
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Systems, Man & Cybernetics. Systems
- Publication Type :
- Academic Journal
- Accession number :
- 123805766
- Full Text :
- https://doi.org/10.1109/TSMC.2016.2631601