Adaptive Fractional-Order Sliding Mode Control for Admittance-Based Telerobotic System With Optimized Order and Force Estimation

This article proposes a variable structure control with neural network and optimized fractional-order selection policy for the sensorless telerobotic system with uncertain time delay, model uncertainty, fractional calculus numerical approximation bias, and external disturbance. Expanded from the int...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 69; no. 5; pp. 5165 - 5174
Main Authors Ma, Zhiqiang, Liu, Zhengxiong, Huang, Panfeng, Kuang, Zhian
Format Journal Article
LanguageEnglish
Published New York IEEE 01.05.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Algorithms
Approximation
Control stability
Electrical impedance
Estimation
Force
Fractional calculus
Fractional-order system
Integers
Mathematical analysis
Mathematical models
neural network based estimation
Neural networks
Numerical stability
Sliding mode control
sliding mode control (SMC)
Stability analysis
Stability criteria
Synchronism
telerobotic system
Telerobotics
Time lag
Time synchronization
Trajectory
Uncertainty
Variable structure control
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Summary:This article proposes a variable structure control with neural network and optimized fractional-order selection policy for the sensorless telerobotic system with uncertain time delay, model uncertainty, fractional calculus numerical approximation bias, and external disturbance. Expanded from the integer-order calculus based on the definition of Caputo and the comparison principle, the Riemann-Liouville-based uniformly ultimately bounded stability is introduced to synthesize the sliding mode control with varying order, and the corresponding neural network based force estimation, which is optimized by the specified order based on the greed algorithm. Combined with the mixed-type error, the proposed hybrid integer-order and fractional-order analysis methodology is capable of guaranteeing the Riemann-Liouville-based uniformly ultimately bounded stability of tracking and synchronization errors under time delay. According to Euler difference, the proposed synthesis method can suppress the combined error in the boundedness of approximating double Euler difference errors. Numerical simulation and experiment of the telerobotic system under the control of the proposed method verify the stability analyses.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2021.3078385