Finite-Time Control of Teleoperation Systems With Input Saturation and Varying Time Delays
针对存在模型不确定、执行器饱和和非对称时变延迟的非线性遥操作系统，提出一种有限时间控制方法，通过抗饱和补偿器和广义切换滤波器实现位置跟踪误差的有限时间收敛，仿真验证了有效性。
This paper develops a finite-time control approach for nonlinear teleoperation systems, which is capable of unifying the study of model uncertainties, actuator saturation, and asymmetric time-varying delays in the same framework. First, a novel anti-windup compensator is designed to analyze the effect of actuator saturation. To achieve the finite-time tracking, a nonsmooth generalized switched filter is also investigated. By introducing the anti-windup compensator and the generalized switched filter into the adaptive fuzzy control torque design, a novel finite-time controller is developed. By using the multiple Lypaunov-Krasovskii functionals method, the resulting closed-loop system is state-independent input-to-output practical stable (SIIOpS) and based on this, it is proved to be finite-time SIIOpS. It is shown that the asymptotic convergence of the adaptive estimation errors and the finite-time convergence of the position tracking errors are obtained, whether the robots contact with the human operator/environment or not. Finally, the effectiveness is demonstrated by the simulation results.