Fixed-time personalized variable gain tracking control for teleoperation systems with time varying delays

Shaofan Guo, Zhengxiong Liu, Longnan Li, Zhiqiang Ma, Panfeng Huang

科研成果: 期刊稿件文章同行评审

4 引用 (Scopus)

摘要

In this paper, a fixed-time personalized variable gain control (FTPGC) scheme is developed for a class of teleoperation systems. Efforts in this paper seek to improve the tracking performance under different operation intentions for teleoperation systems in the presence of time varying delays and uncertainties. By virtue of nonsmooth analysis, a fixed-time unknown observer (FUO) is firstly devised for the teleoperation systems such that the matched/mismatched unknowns can be observed within a fixed time. Meanwhile, with the help of an auxiliary function, a novel nonsingular fixed-time control framework is subsequently constructed without using any piecewise continuous switching functions. Moreover, the FUO and a variable gain involving electromyographic are incorporated into the fixed-time control framework, and thereby resulting the FTPGC scheme to improve trajectory tracking performance in the presence of unknowns and different operation intentions. The fixed-time stability of the entire FTPGC scheme is derived by rigorously theoretical analysis. Finally, comprehensive experiments and comparisons are conducted to demonstrate the effectiveness and feasibility of the proposed scheme.

源语言英语
页(从-至)13015-13032
页数18
期刊Journal of the Franklin Institute
360
17
DOI
出版状态已出版 - 11月 2023

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