Adaptive Practical Fixed-Time Synchronization Control for Bilateral Teleoperation System With Prescribed 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.

Automated summary

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.