Finite Time Observer Design for Teleoperation System

The finite-time output feedback synchronization control problem is considered for a bilateral teleoperation system in the presence of the modeling error and disturbance. A new observer is designed for the velocity estimation by using neural network approximation and fast terminal sliding mode method. It is shown that the resulting velocity error system is semi-globally finite-time stable. The observer based output feedback finite-time controller is developed by employing a novel nonsingular fast integral terminal sliding mode. The closed-loop system is proved to be semi-globally stable and the master-slave synchronization error converges to zero in finite time. Compared with the existing controllers, the designed controller of this paper only uses the position information and renders the master-slave synchronization error reaching zero in the given finite time. Simulation and experiment are performed and the results demonstrate the effectiveness of the proposed method.

[1]  Shuanghe Yu,et al.  Finite-Time Consensus for Second-Order Multi-Agent Systems with Disturbances by Integral Sliding Mode Algorithm based on Relative Information , 2018, 2018 37th Chinese Control Conference (CCC).

[2]  Mark W. Spong,et al.  Bilateral Teleoperation Over Unreliable Communication Networks , 2008, IEEE Transactions on Control Systems Technology.

[3]  Shaocheng Tong,et al.  Neural Network Control-Based Adaptive Learning Design for Nonlinear Systems With Full-State Constraints , 2016, IEEE Transactions on Neural Networks and Learning Systems.

[4]  David W. L. Wang,et al.  Time-Delayed Output Feedback Bilateral Teleoperation With Force Estimation for $n$-DOF Nonlinear Manipulators , 2014, IEEE Transactions on Control Systems Technology.

[5]  Zhihong Man,et al.  Terminal sliding mode observers for a class of nonlinear systems , 2010, Autom..

[6]  Heidar Ali Talebi,et al.  Adaptive neural network control of bilateral teleoperation with constant time delay , 2011, Nonlinear Dynamics.

[7]  Changyin Sun,et al.  Finite time integral sliding mode control of hypersonic vehicles , 2013 .

[8]  Xin-Ping Guan,et al.  Fixed-time Coordination Control for Bilateral Telerobotics System with Asymmetric Time-varying Delays , 2017, J. Intell. Robotic Syst..

[9]  Zhihong Man,et al.  Continuous finite-time control for robotic manipulators with terminal sliding mode , 2003, Autom..

[10]  Fumitoshi Matsuno,et al.  Finite-time observers for multi-agent systems without velocity measurements and with input saturations , 2014, Syst. Control. Lett..

[11]  Dongya Zhao,et al.  Output Feedback Terminal Sliding Mode Control for a Class of Second Order Nonlinear Systems , 2013 .

[12]  Michel Kinnaert,et al.  Output-feedback control of nonlinear bilateral teleoperators , 2012, 2012 American Control Conference (ACC).

[13]  Leonid M. Fridman,et al.  Second-order sliding-mode observer for mechanical systems , 2005, IEEE Transactions on Automatic Control.

[14]  Franck Plestan,et al.  Higher order sliding mode control based on integral sliding mode , 2007, Autom..

[15]  F. Lewis,et al.  Neural Network Control of Robot Arms and Nonlinear Systems , 1997 .

[16]  Jun Yang,et al.  Finite-Time Output Feedback Control for PWM-Based DC–DC Buck Power Converters of Current Sensorless Mode , 2017, IEEE Transactions on Control Systems Technology.

[17]  Gregory N. Washington,et al.  Acceleration Feedback-Based Active and Passive Vibration Control of Landing Gear Components , 2002 .

[18]  Gerd Hirzinger,et al.  Bilateral energy transfer in delayed teleoperation on the time domain , 2008, 2008 IEEE International Conference on Robotics and Automation.

[19]  Danwei Wang,et al.  Spacecraft Attitude Fault Tolerant Control with Terminal Sliding-Mode Observer , 2015 .

[20]  Yana Yang,et al.  Neural network-based adaptive position tracking control for bilateral teleoperation under constant time delay , 2013, Neurocomputing.

[21]  Mohammed M'Saad,et al.  High gain observer for a class of non-triangular systems , 2011, Syst. Control. Lett..

[22]  Liang Yang,et al.  Nonsingular fast terminal sliding‐mode control for nonlinear dynamical systems , 2011 .

[23]  Zhihong Man,et al.  Non-singular terminal sliding mode control of rigid manipulators , 2002, Autom..

[24]  Bijnan Bandyopadhyay,et al.  Finite-Time Stabilization of Fractional Order Uncertain Chain of Integrator: An Integral Sliding Mode Approach , 2013, IEEE Transactions on Automatic Control.