Title :
Adaptive Fuzzy Finite-Time Coordination Control for Networked Nonlinear Bilateral Teleoperation System
Author :
Yana Yang ; Changchun Hua ; Xinping Guan
Author_Institution :
Inst. of Electr. Eng., Yanshan Univ., Qinhuangdao, China
Abstract :
The master-slave control design problem is considered for the networked teleoperation system with friction and external disturbances. A new finite-time synchronization control method is proposed with the help of adaptive fuzzy approximation. We develop a new nonsingular fast terminal sliding mode (NFTSM) to provide faster convergence and higher precision than the linear hyperplane-sliding mode and the classic terminal-sliding mode (TSM). Then, the adaptive fuzzy-logic system is employed to approximate the system uncertainties, and the corresponding adaptive fuzzy NFTSM controller is designed. By constructing Lyapunov function, the stability and finite-time synchronization performance are proved with the new controller in the presence of system uncertainties and external disturbances. Compared with the traditional teleoperation design method, the new control scheme achieves better transient-state performance and steady-state performance. Finally, the simulations are performed and the comparisons are shown among the proposed method, the P+d method, the PD+d method, the DFF method, and the classic TSM FTSM. The simulation results further demonstrate the effectiveness of the proposed method.
Keywords :
Lyapunov methods; PD control; adaptive control; approximation theory; control system synthesis; distributed parameter systems; friction; fuzzy control; human-robot interaction; networked control systems; nonlinear control systems; stability; synchronisation; telerobotics; uncertain systems; variable structure systems; DFF method; Lyapunov function; P+d method; PD+d method; adaptive fuzzy NFTSM controller design; adaptive fuzzy approximation; adaptive fuzzy finite-time coordination control; adaptive fuzzy-logic system; classic TSM FTSM; external disturbances; finite-time synchronization control method; friction; master-slave control design problem; networked nonlinear bilateral teleoperation system; nonsingular fast terminal sliding mode; stability; steady-state performance; system uncertainties; transient-state performance; Adaptive fuzzy control; finite-time control; teleoperation system; time delay;
Journal_Title :
Fuzzy Systems, IEEE Transactions on
DOI :
10.1109/TFUZZ.2013.2269694