TY - GEN
T1 - Fractional-order Non-singular Terminal Sliding Mode Control for Bilateral Teleoperation System
AU - Duan, Xiaolong
AU - Ma, Zhiqiang
AU - Liu, Zhengxiong
AU - Liu, Yu
AU - Bai, Lifei
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This article investigates the stabilization of the bilateral teleoperation system with inherent strong nonlinearities and model parametric uncertainties, and a fractional-order non-singular terminal sliding mode control (FONTSMC) strategy for high-precision master-slave tracking is generated by combining fractional calculus and sliding mode control. The stability of the closed-loop system and finite-time convergence are analyzed using the Lyapunov stability theory. For simulation verification, the presented control scheme is applied to a pair of 3-DoF Phantom Omni haptic manipulators. The results reveal that the performance of non-singular terminal sliding mode control with fractional calculus is significantly better than that of the integer-order non-singular terminal sliding mode control in terms of trajectory tracking accuracy and response time.
AB - This article investigates the stabilization of the bilateral teleoperation system with inherent strong nonlinearities and model parametric uncertainties, and a fractional-order non-singular terminal sliding mode control (FONTSMC) strategy for high-precision master-slave tracking is generated by combining fractional calculus and sliding mode control. The stability of the closed-loop system and finite-time convergence are analyzed using the Lyapunov stability theory. For simulation verification, the presented control scheme is applied to a pair of 3-DoF Phantom Omni haptic manipulators. The results reveal that the performance of non-singular terminal sliding mode control with fractional calculus is significantly better than that of the integer-order non-singular terminal sliding mode control in terms of trajectory tracking accuracy and response time.
KW - fractional-order sliding mode control
KW - Fractional-order system
KW - physical human-robot interaction
KW - sliding mode control
KW - teleoperation system
UR - http://www.scopus.com/inward/record.url?scp=85143897961&partnerID=8YFLogxK
U2 - 10.1109/IECON49645.2022.9968699
DO - 10.1109/IECON49645.2022.9968699
M3 - 会议稿件
AN - SCOPUS:85143897961
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society
PB - IEEE Computer Society
T2 - 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022
Y2 - 17 October 2022 through 20 October 2022
ER -