Adaptive Finite-Time Control Scheme for Teleoperation With Time-Varying Delay and Uncertainties

doi:10.1109/TSMC.2020.3032295

	Adaptive Finite-Time Control Scheme for Teleoperation With Time-Varying Delay and Uncertainties
	Zhang, Haochen 1,2; Song, Aiguo 1; Li, Huijun 1; Chen, Dapeng 3; Fan, Liqiang 1
刊名	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
	2022-03-01
卷号	52 期号:3 页码:1552-1566
关键词	Force Robots Uncertainty Adaptation models Delays Adaptive control Torque Adaptive control communication delay finite-time control position force tracking teleoperation
ISSN号	2168-2216
DOI	10.1109/TSMC.2020.3032295
英文摘要	The communication time delay and uncertain models of robotic manipulators are the major problem in the teleoperation system, which can reduce the performance and stability of the system. This article proposed a novel finite-time adaptive control scheme for position and force tracking performances of the teleoperation system. First, a combined auxiliary error system with position and force tracking errors is designed. Second, a velocity feedback filter is introduced, and a new auxiliary variable function with finite-time structure is designed for controller design. The radial basis function neural network (RBFNN) is applied to estimate the uncertain parts. Then the finite-time adaptive control scheme and adaptive laws are given. Third, based on the Lyapunov method, stability and finite-time performance are demonstrated. And finally, the simulation and experimental studies (with Phantom Ommi devices) are performed and demonstrate the effectiveness of the proposed control scheme on teleoperation position/force tracking.
WOS研究方向	Automation & Control Systems ; Computer Science
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000756835400025
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/158117]
专题	电气工程与信息工程学院
作者单位	1.Southeast Univ, Sch Instrument Sci & Engn, State Key Lab Bioelect, Jiangsu Key Lab Remote Measurement & Control, Nanjing 210096, Peoples R China; 2.Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China; 3.Nanjing Univ Informat Sci & Technol, Sch Automat, Nanjing 210044, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Haochen,Song, Aiguo,Li, Huijun,et al. Adaptive Finite-Time Control Scheme for Teleoperation With Time-Varying Delay and Uncertainties[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2022,52(3):1552-1566.
APA	Zhang, Haochen,Song, Aiguo,Li, Huijun,Chen, Dapeng,&Fan, Liqiang.(2022).Adaptive Finite-Time Control Scheme for Teleoperation With Time-Varying Delay and Uncertainties.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,52(3),1552-1566.
MLA	Zhang, Haochen,et al."Adaptive Finite-Time Control Scheme for Teleoperation With Time-Varying Delay and Uncertainties".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 52.3(2022):1552-1566.