A novel adaptive finite time controller for bilateral teleoperation system

作者：Wang, Ziwei; Chen, Zhang^*; Liang, Bin; Zhang, Bo

来源：Acta Astronautica, 2018, 144: 263-270.

DOI：10.1016/j.actaastro.2017.12.046

• SLIDING MODE CONTROL
• ATTITUDE STABILIZATION
• DELAY
• SYNCHRONIZATION
• MANIPULATORS
• CONVERGENCE
• SPACECRAFT
• DESIGN
• ROBOTS

Most bilateral teleoperation researches focus on the system stability within time-delays. However, practical teleoperation tasks require high performances besides system stability, such as convergence rate and accuracy. This paper investigates bilateral teleoperation controller design with transient performances. To ensure the transient performances and system stability simultaneously, an adaptive non-singular fast terminal mode controller is proposed to achieve practical finite-time stability considering system uncertainties and time delays. In addition, a novel switching scheme is introduced, in which way the singularity problem of conventional terminal sliding manifold is avoided. Finally, numerical simulations demonstrate the effectiveness and validity of the proposed method.

• 出版日期2018-3
• 单位清华大学; 清华大学深圳研究生院; 上海宇航系统工程研究所