Adaptive finite-time synchronization control for teleoperation system with varying time delays

doi:10.1109/ACCESS.2018.2857802

	Adaptive finite-time synchronization control for teleoperation system with varying time delays
	Zhang, Haochen1,2 ; Song, Aiguo 1; Shen, Shaobo 1
	2018-07-19
发表期刊	IEEE Access
ISSN	2169-3536
卷号	6 页码:40940-40949
摘要	In practical application, the synchronization tracking of teleoperation system requires the fast speed and strong robustness. It is the ideal control effect that the synchronization errors between master and slave robots can converge to zero in finite time. In this paper, we propose the new nonsingular terminal sliding mode and the adaptive finite-time control method for position tracking in teleoperation system. First, a novel nonsingular terminal sliding mode is designed to provide higher tracking precision and robustness. Second, the radial basis function neural networks are applied to solve dynamic uncertainties, and the adaptive laws are proposed to estimate the uncertain parameters and upper bounds of estimation. Then, the corresponding finite-time controllers of master and slave robots are designed. Third, based on the Lyapunov stability theory, synchronization performances of the closed-loop system are proved to be stable state and finite time. Finally, simulations are achieved, and some comparisons with two nonsingular terminal sliding mode control schemes and two PD methods are shown. The simulation results verify the effectiveness of the proposed control laws. © 2013 IEEE.
关键词	Closed loop systems Delay control systems Radial basis function networks Remote control Robustness (control systems) Sliding mode control Synchronization Time delay Uncertainty analysis Adaptive Control Finite-time control Non-singular terminal sliding modes Teleoperation systems Varying time delay
DOI	10.1109/ACCESS.2018.2857802
收录类别	EI ; SCIE
语种	英语
资助项目	National Natural Science Foundation of China[91648206] ; National Natural Science Foundation of China[U1713210]
WOS研究方向	Computer Science ; Engineering ; Telecommunications
WOS类目	Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS记录号	WOS:000441868800052
出版者	Institute of Electrical and Electronics Engineers Inc.
EI入藏号	20183005606711
EI主题词	Adaptive control systems
EI分类号	713 Electronic Circuits - 731.1 Control Systems - 731.5 Robotics - 922.1 Probability Theory - 961 Systems Science
来源库	Compendex
分类代码	713 Electronic Circuits - 731.1 Control Systems - 922.1 Probability Theory - 961 Systems Science
引用统计	被引频次：16[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/114223
专题	电气工程与信息工程学院
通讯作者	Song, Aiguo
作者单位	1.Southeast Univ, Sch Instrument Sci & Engn, Nanjing 210096, Jiangsu, Peoples R China; 2.Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Gansu, Peoples R China
第一作者单位	电气工程与信息工程学院
推荐引用方式 GB/T 7714	Zhang, Haochen,Song, Aiguo,Shen, Shaobo. Adaptive finite-time synchronization control for teleoperation system with varying time delays[J]. IEEE Access,2018,6:40940-40949.
APA	Zhang, Haochen,Song, Aiguo,&Shen, Shaobo.(2018).Adaptive finite-time synchronization control for teleoperation system with varying time delays.IEEE Access,6,40940-40949.
MLA	Zhang, Haochen,et al."Adaptive finite-time synchronization control for teleoperation system with varying time delays".IEEE Access 6(2018):40940-40949.