In this section, you can access to the latest technical information related to the FUTURE project topic.

A novel adaptive finite time controller for bilateral teleoperation system

Most bilateral teleoperation researches focus on the system stability within time-delays. However, practical teleoperation tasks require high performances besides system stability, such as convergence rate and accuracy. This paper investigates bilateral teleoperation controller design with transient performances. To ensure the transient performances and system stability simultaneously, an adaptive non-singular fast terminal mode controller is proposed to achieve practical finite-time stability considering system uncertainties and time delays. In addition, a novel switching scheme is introduced, in which way the singularity problem of conventional terminal sliding manifold is avoided. Finally, numerical simulations demonstrate the effectiveness and validity of the proposed method.

» Author: Ziwei Wang, Zhang Chen, Bin Liang, Bo Zhang

» Reference: Acta Astronautica, Volume 144

» Publication Date: 01/03/2018

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