Global terminal sliding‐mode control for the synchronization problem of uncertain bilateral teleoperation system with time‐varying delays
In this paper, an adaptive global terminal sliding‐mode control is developed for a nonlinear bilateral teleoperation system with time‐varying delays, external disturbances, and uncertainties. By selecting a time‐varying sliding‐mode manifold, a finite‐time sliding‐mode control algorithm is proposed...
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| Published in: | Asian journal of control Vol. 26; no. 4; pp. 2180 - 2205 |
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| Main Authors: | , , |
| Format: | Journal Article |
| Language: | English |
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01-07-2024
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| Abstract | In this paper, an adaptive global terminal sliding‐mode control is developed for a nonlinear bilateral teleoperation system with time‐varying delays, external disturbances, and uncertainties. By selecting a time‐varying sliding‐mode manifold, a finite‐time sliding‐mode control algorithm is proposed to guarantee the suppression of the reaching phase associated with the conventional sliding‐mode control. This implies that the robustness is guaranteed throughout to entire response of the system. Meanwhile, the chattering phenomenon and the energy consumption are significantly reduced. Furthermore, in order to enhance the tracking performance in practical situations, adaptive tuning laws are developed to estimate the unknown upper bounds of the lumped uncertainties. Hence, the proposed approach has several merits, namely, fast response, accurate synchronization, and strong robustness with respect to large uncertainties and disturbances. The stability of the system in closed‐loop and the boundedness on the internal dynamics are proved by Lyapunov stability theory. Illustrative simulations were conducted to show the effectiveness of the proposed controller. |
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| AbstractList | In this paper, an adaptive global terminal sliding‐mode control is developed for a nonlinear bilateral teleoperation system with time‐varying delays, external disturbances, and uncertainties. By selecting a time‐varying sliding‐mode manifold, a finite‐time sliding‐mode control algorithm is proposed to guarantee the suppression of the reaching phase associated with the conventional sliding‐mode control. This implies that the robustness is guaranteed throughout to entire response of the system. Meanwhile, the chattering phenomenon and the energy consumption are significantly reduced. Furthermore, in order to enhance the tracking performance in practical situations, adaptive tuning laws are developed to estimate the unknown upper bounds of the lumped uncertainties. Hence, the proposed approach has several merits, namely, fast response, accurate synchronization, and strong robustness with respect to large uncertainties and disturbances. The stability of the system in closed‐loop and the boundedness on the internal dynamics are proved by Lyapunov stability theory. Illustrative simulations were conducted to show the effectiveness of the proposed controller. |
| Author | Ounissi, Asma Boukattaya, Mohamed Mezghani Ben Romdhane, Neila |
| Author_xml | – sequence: 1 givenname: Asma surname: Ounissi fullname: Ounissi, Asma organization: University of Sfax – sequence: 2 givenname: Mohamed orcidid: 0000-0002-2772-8144 surname: Boukattaya fullname: Boukattaya, Mohamed email: mohamed.boukattaya@gmail.com organization: University of Sfax – sequence: 3 givenname: Neila orcidid: 0000-0002-5925-5783 surname: Mezghani Ben Romdhane fullname: Mezghani Ben Romdhane, Neila organization: University of Sfax |
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| Snippet | In this paper, an adaptive global terminal sliding‐mode control is developed for a nonlinear bilateral teleoperation system with time‐varying delays, external... |
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| SubjectTerms | Adaptive control Adaptive systems Algorithms bilateral teleoperation system Control algorithms Control theory Disturbances Energy consumption global terminal sliding mode Nonlinear control Robust control Sliding mode control Stability Synchronism Teleoperators Time synchronization time‐varying delays Uncertainty upper bound estimation Upper bounds |
| Title | Global terminal sliding‐mode control for the synchronization problem of uncertain bilateral teleoperation system with time‐varying delays |
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