Composite adaptive control for bilateral teleoperation systems without persistency of excitation

Li, Yuling; Yin, Yixin; Zhang, Sen; Dong, Jie; Johansson, Rolf

doi:10.1016/j.jfranklin.2019.04.001

Cited by 22 publications

(7 citation statements)

References 33 publications

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“…This section presents the nonlinear dynamic model and some properties of the teleoperation systems. The Euler-Lagrange equations describing the dynamics of the teleoperation plant are [30] P m (q m ) qm…”

Section: Problem Presentationmentioning

confidence: 99%

“…This section presents the simulation results of the 2-degree of freedom teleoperation system under the action of the BNFTSMC-RBFNN. The dynamic descriptions and parameters of the teleoperation system are given in [30]. The time-varying delay in the communication channel is set as d(t) = 0.2 + 0.02sin(4t) + 0.05cos(7t).…”

Section: Computer Simulationmentioning

confidence: 99%

“…However, due to the uncertainties associated with teleoperation system, the time delays cannot be constant. Several control architectures were introduced to handle tracking problems in bilateral teleoperation system with time-varying delays, such as robust adaptive type-2 fuzzy control [25], adaptive type-2 fuzzy neural-network control [26], linear matrix inequalities control [27], internet-based control [28], neural-network based control [29], composite adaptive control [30], adaptive finite time control [31], task space control [32], adaptive fuzzy backstepping control [33], robust adaptive control [34], RBFNN-based SMC [35], dynamic gain control [36], adaptive fault tolerant control [37].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Control design for bilateral teleoperation system with actuator dead-zone and time-varying delays

2022

Eur. J. Math. Appl.

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This paper investigates the control design of a bilateral teleoperation system with input dead-zone, dynamic uncertainties, external disturbances and time-varying delay. Our objective is to achieve a robust bilateral teleoperation with guaranteed position asymptotic convergence. This is accomplished using an efficient backstepping approach combined with nonsingular fast terminal sliding mode control (NFTSMC) where the uncertain dynamics of the system are identified using radial basis function neural network (RBFNN). The upper-bounds of the external disturbances together with the RBFNN approximation errors are estimated and compensated online using adaptation algorithms. Computer simulations are provided to demonstrate the viability of the proposed control law.

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Section: Problem Presentationmentioning

confidence: 99%

Section: Computer Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Control design for bilateral teleoperation system with actuator dead-zone and time-varying delays

2022

Eur. J. Math. Appl.

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“…Definition for probability of switching system was shown in [20]. For all Ω p ∈ (0, 1), there is a class κ function (.) such that ∀C > 0, t ≥ t 0 , |x(t 0 )| ≤ (C)…”

Section: Proposed Switching Control: Small Disturbance Conditionmentioning

confidence: 99%

“…In this research, due to the flexibility in handling the disturbances, the adaptive control is chosen as a powerful tool in the development of the intelligent controllers. A composite adaptive control for robotic was presented in [1] in which the controller used the lower-bounded matrices of the predicted errors to develop the adaptation laws. Adaptive control with fuzzy model for tracking control was studied in [2] where the tan-type barrier Lyapunov (TBL in short) function was used for the design of the adaptive laws showing better control performance than the log-type BL.…”

Section: Introductionmentioning

confidence: 99%

A New Switching Adaptive Fuzzy Controller with an Application to Vibration Control of a Vehicle Seat Suspension Subjected to Disturbances

2021

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This paper proposes a new switching adaptive fuzzy controller and applies it to vibration control of a vehicle seat suspension equipped with a semi-active magnetorheological (MR) damper. The proposed control system consists of three functioned filters: (1) Filter 1: a model of interval type 2 fuzzy to compensate disturbances; (2) Filter 2: a ‘switching term’ to evaluate the magnitude of disturbance; and (3) Filter 3: a group of adaptation laws to enhance the robustness of control input. These filters play a role of powerful shields to improve control performance and guarantee the stability of the applied system subjected to external disturbances. After embedding a PID (proportional-integral-derivative) model into Riccati-like equation, main control parameters are updated based on the adaptation laws. The proposed controller is then synthesized in two different cases: high disturbance and small disturbance. For the high disturbance, a special type of sliding surface function, which relates to an exponential function and its t-norm, is used to increase the energy of control system. For the small disturbance, the energy from the modified t-norm of the sliding surface is neglected to reduce the energy consumption with maintaining the desired performance. To demonstrate the effectiveness of the proposed controller, a vehicle seat suspension installed with controllable MR damper is adopted to reflect the robustness against external disturbances corresponding to road excitations. It is validated from computer simulation that the proposed controller can provide better vibration control performance than other existing robust controllers showing excellent control stability with well-reduced displacement and velocity at the position of the seat.

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Global terminal sliding‐mode control for the synchronization problem of uncertain bilateral teleoperation system with time‐varying delays

Ounissi,

Boukattaya,

Mezghani Ben Romdhane

2024

Asian Journal of Control

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In this paper, an adaptive global terminal sliding‐mode control is developed for a nonlinear bilateral teleoperation system with time‐varying delays, external disturbances, and uncertainties. By selecting a time‐varying sliding‐mode manifold, a finite‐time sliding‐mode control algorithm is proposed to guarantee the suppression of the reaching phase associated with the conventional sliding‐mode control. This implies that the robustness is guaranteed throughout to entire response of the system. Meanwhile, the chattering phenomenon and the energy consumption are significantly reduced. Furthermore, in order to enhance the tracking performance in practical situations, adaptive tuning laws are developed to estimate the unknown upper bounds of the lumped uncertainties. Hence, the proposed approach has several merits, namely, fast response, accurate synchronization, and strong robustness with respect to large uncertainties and disturbances. The stability of the system in closed‐loop and the boundedness on the internal dynamics are proved by Lyapunov stability theory. Illustrative simulations were conducted to show the effectiveness of the proposed controller.

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Composite adaptive control for bilateral teleoperation systems without persistency of excitation

Cited by 22 publications

References 33 publications

Control design for bilateral teleoperation system with actuator dead-zone and time-varying delays

Control design for bilateral teleoperation system with actuator dead-zone and time-varying delays

A New Switching Adaptive Fuzzy Controller with an Application to Vibration Control of a Vehicle Seat Suspension Subjected to Disturbances

Global terminal sliding‐mode control for the synchronization problem of uncertain bilateral teleoperation system with time‐varying delays

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