Novel Adaptive Finite-Time Control of Teleoperation System With Time-Varying Delays and Input Saturation

doi:10.1109/TCYB.2019.2924446

	Novel Adaptive Finite-Time Control of Teleoperation System With Time-Varying Delays and Input Saturation
	Zhang, Haochen 1,2; Song, Aiguo 1; Li, Huijun 1; Shen, Shaobo 1
刊名	IEEE TRANSACTIONS ON CYBERNETICS
	2021-07
卷号	51 期号:7 页码:3724-3737
关键词	Actuators Delay effects Manipulator dynamics Delays Stability criteria Adaptive finite-time control auxiliary compensation filter radial basis function (RBF) neural network teleoperation time-varying delay
ISSN号	2168-2267
DOI	10.1109/TCYB.2019.2924446
英文摘要	In this paper, two novel adaptive finite-time control schemes are proposed for position tracking of nonlinear teleoperation system, which dynamic uncertainties, actuator saturation, and time-varying communication delays are considered. First, a novel auxiliary variable is designed to provide more stable performance. The radial basis function (RBF) neural network is introduced to estimate dynamic uncertainties. Second, two adaptive finite-time control schemes are investigated. In control scheme I, the RBF neural network and the gain switching strategy are applied to compensate the actuator saturation. In control scheme II, an auxiliary compensation filter and the compensation adaptive update laws, which contain the finite-time structure, are developed for dealing with saturation. Third, the finite-time adaptive controller is designed in each of these two control schemes. Based on the multiple Lyapunov function method, the closed-loop teleoperation system with these two control methods is proved to be bounded and finite-time stability. Finally, the simulation experiments are performed and the comparisons with other control methods are shown. The effectiveness of the proposed control schemes is demonstrated.
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:000665001500027
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/148883]
专题	电气工程与信息工程学院
作者单位	1.Southeast Univ, Sch Instrument Sci & Engn, Jiangsu Key Lab Remote Measurement & Control, State Key Lab Bioelect, Nanjing 210096, Peoples R China; 2.Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Haochen,Song, Aiguo,Li, Huijun,et al. Novel Adaptive Finite-Time Control of Teleoperation System With Time-Varying Delays and Input Saturation[J]. IEEE TRANSACTIONS ON CYBERNETICS,2021,51(7):3724-3737.
APA	Zhang, Haochen,Song, Aiguo,Li, Huijun,&Shen, Shaobo.(2021).Novel Adaptive Finite-Time Control of Teleoperation System With Time-Varying Delays and Input Saturation.IEEE TRANSACTIONS ON CYBERNETICS,51(7),3724-3737.
MLA	Zhang, Haochen,et al."Novel Adaptive Finite-Time Control of Teleoperation System With Time-Varying Delays and Input Saturation".IEEE TRANSACTIONS ON CYBERNETICS 51.7(2021):3724-3737.