Journal
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
Volume 69, Issue 3, Pages 1243-1247Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSII.2021.3121436
Keywords
Synchronization; Upper bound; Uncertainty; Adaptive systems; Convergence; Circuits and systems; Transient analysis; Sliding mode control; fixed-time control; prescribed performance; bilateral teleoperation
Categories
Funding
- National Natural Science Foundation of China [61725303]
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In this paper, an adaptive practical fixed-time synchronization control scheme is proposed for the position tracking of a bilateral teleoperation system with prescribed performance. A prescribed performance function (PPF) is incorporated into the fixed-time control framework to ensure that the synchronization errors converge within a fixed time, regardless of the initial states. The upper bound of system uncertainties is estimated using adaptive techniques to attenuate the adverse effects caused by the uncertainties. Simulation studies and experiments show the effectiveness and practicality of the proposed control scheme in terms of both transient and steady-state performance.
In this brief, an adaptive practical fixed-time synchronization control scheme for position tracking of a bilateral teleoperation system with prescribed performance is proposed. A prescribed performance function (PPF) is incorporated into the fixed-time control framework such that the synchronization errors will converge into a residual set in a fixed time and the upper bound of setting time is regardless of the initial states. The upper bound of system uncertainties is estimated via adaptive technique such that the adverse effect induced by system uncertainties can be attenuated. Simulation studies and experiments demonstrate the effectiveness and practicality of the proposed control scheme in terms of both transient and steady-state performance.
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