Adaptive Fuzzy Finite-Time Coordination Control for Networked Nonlinear Bilateral Teleoperation System

2014 ◽  
Vol 22 (3) ◽  
pp. 631-641 ◽  
Author(s):  
Yana Yang ◽  
Changchun Hua ◽  
Xinping Guan
Keyword(s):  
Finite Time ◽  
Bilateral Teleoperation ◽  
Coordination Control ◽  
Adaptive Fuzzy ◽  
Teleoperation System

Finite-time coordination control for networked bilateral teleoperation

Robotica ◽  
2014 ◽  
Vol 33 (2) ◽  
pp. 451-462 ◽  
Author(s):  
Yana Yang ◽  
Changchun Hua ◽  
Huafeng Ding ◽  
Xinping Guan
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Bilateral Teleoperation ◽  
Coordination Control ◽  
Terminal Sliding Mode ◽  
Time Control ◽  
Control Scheme

SUMMARYA continuous finite-time control scheme for networked bilateral teleoperation is proposed in this brief. The terminal sliding mode technology is used and new master–slave torques are designed. With the new controller, the coordination error of the master manipulator and the slave manipulator converges to zero in finite time. Moreover, the reaching time and the sliding time can be derived. Finally, the comparisons are performed and simulations show the effectiveness of the proposed approach.

A novel adaptive finite time controller for bilateral teleoperation system

2018 ◽  
Vol 144 ◽  
pp. 263-270 ◽  
Author(s):  
Ziwei Wang ◽  
Zhang Chen ◽  
Bin Liang ◽  
Bo Zhang
Keyword(s):  
Finite Time ◽  
Bilateral Teleoperation ◽  
Teleoperation System

scholarly journals Finite-Time Adaptive Fuzzy Control for Nonlinear Systems with Unknown Backlash-Like Hysteresis

2021 ◽  
Author(s):  
Shuzhen Diao ◽  
Wei Sun ◽  
Le Wang ◽  
Jing Wu
Keyword(s):  
Fuzzy Control ◽  
Finite Time ◽  
Fuzzy Systems ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
Finite Time Stability ◽  
Adaptive Fuzzy ◽  
Intermediate Variable ◽  
Control Scheme ◽  
Theoretical Results

AbstractThis study considers the tracking control problem of the nonstrict-feedback nonlinear system with unknown backlash-like hysteresis, and a finite-time adaptive fuzzy control scheme is developed to address this problem. More precisely, the fuzzy systems are employed to approximate the unknown nonlinearities, and the design difficulties caused by the nonlower triangular structure are also overcome by using the property of fuzzy systems. Besides, the effect of unknown hysteresis input is compensated by approximating an intermediate variable. With the aid of finite-time stability theory, the proposed control algorithm could guarantee that the tracking error converges to a smaller region. Finally, a simulation example is provided to further verify the above theoretical results.

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