Composite Adaptive Guaranteed Performances Synchronization Control for Bilateral Teleoperation System With Asymmetrical Time-Varying Delays

• Published in: IEEE transactions on cybernetics Vol. 52; no. 6; pp. 5486 - 5497
• Main Authors: Yang, Yana, Hua, Changchun, Li, Junpeng
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.06.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive algorithms; Adaptive control; Asymmetric time-varying delays; Asymmetry; bilateral teleoperation; Communications systems; composite adaptive control; Control algorithms; Control theory; Convergence; Delay effects; Delays; Liapunov functions; multidimensional small-gain theorem; Parameter estimation; Stability criteria; Synchronism; Synchronization; Systems stability; Teleoperators; transient-state performance; Upper bound; Upper bounds
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2020.3032994

This article studies the guaranteed performance synchronization control problem for networked bilateral teleoperation systems with system uncertainties. The communication channel connecting the master and the slave is subject to asymmetrical varying time delays with unknown upper bounds. The first result on prescribed performance synchronization control for the bilateral teleoperation system under such a weak assumption on the communication time delays is provided. Moreover, a novel composite adaptive control algorithm is proposed under a much weaker interval-excitation (IE) condition. More specifically, parameter adaptive estimation accuracy and speed are quantificationally ensured by employing a composite technique. Therefore, both steady-state performance and transient-state performance are achieved for the position synchronization and parameter estimation with the proposed control strategy. The Lyapunov function and the multidimensional small-gain framework are utilized to derive system stability criteria. It demonstrates that the allowable maximal derivatives of the transmission delays can be easily computed with the given parameters of the control algorithm and the nonlinear performance functions. Finally, both simulation and experimental results are provided to demonstrate the feasibility and superiority of the proposed composite adaptive strategy.