Journal
INFORMATION SCIENCES
Volume 406, Issue -, Pages 216-233Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.ins.2017.04.034
Keywords
Teleoperation system; Finite-time control; Integral terminal sliding mode; Output feedback
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Funding
- Program for the Outstanding Young Innovative Talent, Nature Science Foundation of Hebei Province [F2016203467]
- National Postdoctoral Program for Innovative Talents [BX201600128]
- National Natural Science Foundation of China [61290322, 61322303, 61473248, 61573301, 61603330, 61673335]
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The finite-time control problem is considered for bilateral teleoperation system via output feedback approach. A new observer is designed for the velocity estimation and the resulting velocity error system is proved to be semi-globally stable. The observer based output feedback finite-time controller is developed by employing a novel nonsingular fast integral terminal sliding mode. The closed-loop system is proved to be stable based on Lyapunov stability theory. It is shown that the master-slave synchronization error converges to zero in finite time. The merit of the proposed method is that the designed controller only uses the position information which renders that the master-slave synchronization error reaches zero in the prescribed time. Simulation and experiment are performed and the results demonstrate the effectiveness of the proposed method. (C) 2017 Published by Elsevier Inc.
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