Finite-time coordination control for networked bilateral teleoperation

被引：15
|
作者：
Yang, Yana [1 ]
Hua, Changchun [1 ]
Ding, Huafeng [1 ]
Guan, Xinping [1 ]
机构：
[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Qinhuangdao, Peoples R China
来源：
ROBOTICA | 2015年 / 33卷 / 02期
基金：
国家教育部博士点专项基金资助; 中国国家自然科学基金;
关键词：
Teleoperation system; Time delay; Finite-time; NONLINEAR TELEOPERATORS; TRACKING; SYSTEMS; ROBOT; DELAY;
D O I：
10.1017/S026357471400037X
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A continuous finite-time control scheme for networked bilateral teleoperation is proposed in this brief. The terminal sliding mode technology is used and new master-slave torques are designed. With the new controller, the coordination error of the master manipulator and the slave manipulator converges to zero in finite time. Moreover, the reaching time and the sliding time can be derived. Finally, the comparisons are performed and simulations show the effectiveness of the proposed approach.
引用
收藏
页码：451 / 462
页数：12
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