Institutional Repository of Coll Elect & Informat Engn
| Adaptive Finite-Time Control Scheme for Teleoperation With Time-Varying Delay and Uncertainties | |
Zhang, Haochen1,2 ; Song, Aiguo1; Li, Huijun1; Chen, Dapeng3; Fan, Liqiang1
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| 2022-03 | |
| 发表期刊 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
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| ISSN | 2168-2216 |
| 卷号 | 52期号:3页码:1552-1566 |
| 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. |
| 关键词 | Force Robots Uncertainty Adaptation models Delays Adaptive control Torque Adaptive control communication delay finite-time control position force tracking teleoperation |
| DOI | 10.1109/TSMC.2020.3032295 |
| 收录类别 | SCIE |
| 语种 | 英语 |
| WOS研究方向 | Automation & Control Systems ; Computer Science |
| WOS类目 | Automation & Control Systems ; Computer Science, Cybernetics |
| WOS记录号 | WOS:000756835400025 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 来源库 | WOS |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | https://ir.lut.edu.cn/handle/2XXMBERH/158117 |
| 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, 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 |
| 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,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. |
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| Zhang-2022-Adaptive （5667KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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