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Predefined-time control for single-master-multiple-slave teleoperation systems with prescribed performance

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Abstract

In this paper, the predefined-time control problem with prescribed performance is investigated for bilateral teleoperation systems with a single master and multiple slaves. The difficulty lies in the realization of predefined time stability and synchronization control of single-master and multi-slave manipulators. A prescribed performance function is introduced and an improved error conversion mechanism for matrix transformation is designed to ensure that joint displacement tracking error is constrained. A novel coordination position error transformation is defined such that the positional synchronization of the single-master-multiple-slave manipulators is achieved. Based on graph theory and Lyapunov stability theorem, a novel adaptive neural control approach is developed with predefined time interval via the backstep** technique, such that the convergence time can be predefined by users specification, the tracking error can be limited within a prescribed bound and in the meantime can converge to zero within predefined time interval. Simulation results are provided to prove the effectiveness of the presented scheme.

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Funding

This work was supported in part by the Fundamental Research Funds for the Central Universities Grant 2023YJS002, in part by Zhejiang Natural Science Foundation LZ23F030010, and in part by the National Natural Science Foundation of China under Grant 62173046.

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Authors and Affiliations

  1. School of Mechanical, Electronic and Control Engineering, Bei**g Jiaotong University, Bei**g, 100044, China

    Ke Xu

  2. College of Mathematical Sciences, Bohai University, **zhou, 121000, China

    Huanqing Wang

  3. Department of Systems and Computer Engineering, Carleton University, Ottawa, ON, K1S 5B6, Canada

    Peter ** Liu

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  1. Ke Xu
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  2. Huanqing Wang
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  3. Peter ** Liu
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Correspondence to Ke Xu, Huanqing Wang or Peter ** Liu.

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Xu, K., Wang, H. & Liu, P.X. Predefined-time control for single-master-multiple-slave teleoperation systems with prescribed performance. Nonlinear Dyn 112, 13233–13247 (2024). https://doi.org/10.1007/s11071-024-09717-2

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