Robust complete synchronization control design for non‐collocated nonlinear master–slave system over delayed communication network

In this article, a predictor‐based robust synchronization control scheme is proposed for a non‐collocated nonlinear master–slave system with any large networked communication time delays. In contrast to traditional collocated teleoperation systems, enhanced flexibility, and operation capacity will b...

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Bibliographic Details
Published in:International journal of robust and nonlinear control Vol. 33; no. 3; pp. 2113 - 2132
Main Authors: Yang, Yana, Jiang, Huixin, Li, Junpeng, Hua, Changchun
Format: Journal Article
Language:English
Published: Bognor Regis Wiley Subscription Services, Inc 01.02.2023
Subjects:
Algorithms
any large communication delays
Communications systems
Contact force
Control algorithms
Control methods
networked non‐collocated teleoperation
predictor feedback
Robots
Robust control
Sliding mode control
Synchronism
Teleoperators
terminal sliding mode
transparency
ISSN:1049-8923, 1099-1239
Online Access:Get full text
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Summary:In this article, a predictor‐based robust synchronization control scheme is proposed for a non‐collocated nonlinear master–slave system with any large networked communication time delays. In contrast to traditional collocated teleoperation systems, enhanced flexibility, and operation capacity will be obtained under the non‐collocated system structure in this article. Yet, due to the introduced input delays, existing control strategies for teleoperation systems are no longer applicable. Aiming at this problem, the terminal sliding mode (TSM) admittance control approach is proposed for the master robot to improve system transparency by receiving the contact force from the slave robot to the local side, first. Moreover, complete position synchronization performance is realized by developing a predictor‐based TSM control method for the slave robot while the closed‐loop system is subject to time‐variant large delays. It is mathematically proved that the synchronization errors between the master and the slave will converge to zero completely in finite time by compensating the effect of time delays. Finally, numerical simulations and comparisons are executed to illustrate the superior performance of the posed control algorithms.
Bibliography:Funding information
National Natural Science Foundation of China, Grant/Award Number: 61933009
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SourceType-Scholarly Journals-1
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ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.6493