Fractional-order Non-singular Terminal Sliding Mode Control for Bilateral Teleoperation System

Xiaolong Duan; Zhiqiang Ma; Zhengxiong Liu; Yu Liu; Lifei Bai

doi:10.1109/IECON49645.2022.9968699

Fractional-order Non-singular Terminal Sliding Mode Control for Bilateral Teleoperation System

Xiaolong Duan
, Zhiqiang Ma
, Zhengxiong Liu
, Yu Liu
, Lifei Bai

School of Astronautics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
ISBN (Electronic)	9781665480253
DOIs	https://doi.org/10.1109/IECON49645.2022.9968699
State	Published - 2022
Event	48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022 - Brussels, Belgium Duration: 17 Oct 2022 → 20 Oct 2022

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2022-October
ISSN (Print)	2162-4704
ISSN (Electronic)	2577-1647

Conference

Conference	48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022
Country/Territory	Belgium
City	Brussels
Period	17/10/22 → 20/10/22

Keywords

fractional-order sliding mode control
Fractional-order system
physical human-robot interaction
sliding mode control
teleoperation system

Access to Document

10.1109/IECON49645.2022.9968699

Cite this

Duan, X., Ma, Z., Liu, Z., Liu, Y., & Bai, L. (2022). Fractional-order Non-singular Terminal Sliding Mode Control for Bilateral Teleoperation System. In IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society (IECON Proceedings (Industrial Electronics Conference); Vol. 2022-October). IEEE Computer Society. https://doi.org/10.1109/IECON49645.2022.9968699

@inproceedings{adab7a6433194bb9bb196b6c9571ff62,

title = "Fractional-order Non-singular Terminal Sliding Mode Control for Bilateral Teleoperation System",

abstract = "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.",

keywords = "fractional-order sliding mode control, Fractional-order system, physical human-robot interaction, sliding mode control, teleoperation system",

author = "Xiaolong Duan and Zhiqiang Ma and Zhengxiong Liu and Yu Liu and Lifei Bai",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022 ; Conference date: 17-10-2022 Through 20-10-2022",

year = "2022",

doi = "10.1109/IECON49645.2022.9968699",

language = "英语",

series = "IECON Proceedings (Industrial Electronics Conference)",

publisher = "IEEE Computer Society",

booktitle = "IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society",

}

Duan, X, Ma, Z, Liu, Z, Liu, Y & Bai, L 2022, Fractional-order Non-singular Terminal Sliding Mode Control for Bilateral Teleoperation System. in IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society. IECON Proceedings (Industrial Electronics Conference), vol. 2022-October, IEEE Computer Society, 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022, Brussels, Belgium, 17/10/22. https://doi.org/10.1109/IECON49645.2022.9968699

Fractional-order Non-singular Terminal Sliding Mode Control for Bilateral Teleoperation System. / Duan, Xiaolong; Ma, Zhiqiang; Liu, Zhengxiong et al.
IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2022. (IECON Proceedings (Industrial Electronics Conference); Vol. 2022-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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 - https://www.scopus.com/pages/publications/85143897961

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 -

Fractional-order Non-singular Terminal Sliding Mode Control for Bilateral Teleoperation System

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