Novel Adaptive Finite-Time Control of Teleoperation System With Time-Varying Delays and Input Saturation

作者：Haochen Zhang, Aiguo Song, Huijun Li, Shaobo Shen · 发表于：IEEE Transactions on Cybernetics · 年份：2019 · DOI：10.1109/tcyb.2019.2924446 · 被引用次数：68 · 研究领域：Teleoperation and Haptic Systems、Geophysics and Sensor Technology

In this paper, two novel adaptive finite-time control schemes are proposed for position tracking of nonlinear teleoperation system, which dynamic uncertainties, actuator saturation, and time-varying communication delays are considered. First, a novel auxiliary variable is designed to provide more stable performance. The radial basis function (RBF) neural network is introduced to estimate dynamic uncertainties. Second, two adaptive finite-time control schemes are investigated. In control scheme I, the RBF neural network and the gain switching strategy are applied to compensate the actuator saturation. In control scheme II, an auxiliary compensation filter and the compensation adaptive update laws, which contain the finite-time structure, are developed for dealing with saturation. Third, the finite-time adaptive controller is designed in each of these two control schemes. Based on the multiple Lyapunov function method, the closed-loop teleoperation system with these two control methods is proved to be bounded and finite-time stability. Finally, the simulation experiments are performed and the comparisons with other control methods are shown. The effectiveness of the proposed control schemes is demonstrated.