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, Haochen 1,2; Song, Aiguo 1; Shen, Shaobo 1
刊名	IEEE ACCESS
	2018
卷号	6 页码:40940-40949
关键词	Teleoperation system finite-time control nonsingular terminal sliding mode adaptive control varying time delay
ISSN号	2169-3536
DOI	10.1109/ACCESS.2018.2857802
英文摘要	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.
WOS研究方向	Computer Science ; Engineering ; Telecommunications
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000441868800052
内容类型	期刊论文
源URL	[http://119.78.100.223/handle/2XXMBERH/32894]
专题	电气工程与信息工程学院
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
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.