Synchronization control for bilateral teleoperation system with prescribed performance under asymmetric time delay

被引：1
|
作者：
Yana Yang
Changchun Hua
Xinping Guan
机构：
[1] Yanshan University,
来源：
Nonlinear Dynamics | 2015年 / 81卷
关键词：
Teleoperator; Prescribed performance; Adaptive fuzzy control; Asymmetric time delay;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The position synchronization problem is addressed for bilateral teleoperation system under asymmetric time delay in this paper. A new control scheme is proposed to guarantee the synchronization errors between the master and slave bounded by predefined decreasing boundaries. The adaptive fuzzy method is used to compensate for the system uncertainties and the external disturbances. Then the corresponding adaptive fuzzy-based prescribed performance controller is designed. With the new controller, the synchronization performance is achieved regarding both the transient-state performance as well as the steady-state performance. By choosing proper Lyapunov functions, the prescribed synchronization performance with the new controller is proved with external forces from the human operator and the remote task environment. Finally, simulation and experiment results are both presented to show the effectiveness of the proposed approach.
引用
收藏
页码：481 / 493
页数：12
相关论文
共 50 条
  • [21] Adaptive Fault-Tolerant Control of Nonlinear Time-Delay Systems With Prescribed Performance
    Yang, Zhongjun
    Shi, Jingxuan
    Zong, Xuejun
    Wang, Guogang
    IEEE ACCESS, 2020, 8 (08): : 219810 - 219819
  • [22] Dynamic event-triggered adaptive neural prescribed performance control for dynamic positioning of vessels under input time-delay
    Liu, Zhipeng
    Gong, Qingtao
    Hu, Xin
    OCEAN ENGINEERING, 2025, 322
  • [23] Observer-based finite-time adaptive fault-tolerant control for nonlinear system with input delay and prescribed performance
    Yu, Guo
    Liu, Wenhui
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2023, 37 (08) : 1980 - 1999
  • [24] Prescribed-time prescribed performance-based distributed formation control of surface vessels with system uncertainties
    Wang, Shasha
    Dai, Dongchen
    Peng, Zhouhua
    Tuo, Yulong
    OCEAN ENGINEERING, 2024, 295
  • [25] Anti-saturation adaptive fault-tolerant control with fixed-time prescribed performance for UAV under AOA asymmetric constraint
    Tan, Jian
    Dong, Yanfei
    Shao, Pengyuan
    Qu, Gaomin
    AEROSPACE SCIENCE AND TECHNOLOGY, 2022, 120
  • [26] Fixed-time prescribed performance tracking for nonlinear systems with unknown time-varying input delay
    Hua, Zhiwei
    NONLINEAR DYNAMICS, 2025, 113 (01) : 661 - 680
  • [27] Hierarchical Prescribed-Performance Nonlinear Control for Teleoperation of Networked Secondary Robots With Coupling Constraints
    Xu, Jing-Zhe
    Peng, Huai-Lin
    Ge, Ming-Feng
    Liu, Zhi-Wei
    Yan, Huaicheng
    Liu, Jie
    IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS, 2025, 12 (01): : 1006 - 1017
  • [28] Adaptive fixed-time prescribed performance control of automotive electronic throttle system
    Wan C.-Y.
    Jiao X.-H.
    Wang Z.
    Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2022, 39 (09): : 1707 - 1715
  • [29] Prescribed-Time Formation Tracking Control for Underactuated USVs with Prescribed Performance
    Sui, Bowen
    Zhang, Jianqiang
    Liu, Zhong
    JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2025, 13 (03)
  • [30] Observer-based Finite-time Adaptive Prescribed Performance Control for Nonlinear Systems with Input Delay
    Qi, Xiaojing
    Liu, Wenhui
    Lu, Junwei
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2022, 20 (05) : 1428 - 1438
12345