Dynamic Surface Control for Nonlinear Bilateral Teleoperation Manipulators with Guaranteed Transient Performance

Abstract

In this article, a finite-time adaptive dynamic surface synchronization tracking controller with guaranteed transient performance is proposed for bilateral teleoperation manipulators. To achieve this objective, we establish a comprehensive model of the teleoperation system incorporating asymmetric time-varying delays, external disturbances, joint frictions, and additive uncertainties. Subsequently, the dynamic surface control approach is introduced to reduce computational complexity by avoiding repeated differentiation of virtual signals in traditional backstepping algorithms. Moreover, this law address the passivity issue associated with time-delayed channels by substituting joint frictions and environmental parameter uncertainties with non-power approximate signals generated using fuzzy logic algorithms. Additionally, through the utilization of the finite-time performance function, assurance is provided for the transient performance of the system. The synchronization errors can converge to a small neighborhood around zero in a finite time which can be arbitrarily set. Theoretically, the Semi-Global Practical Finite-Time Stability (SGPFTS) of the closed-loop signals is derived from the Lyapunov function. The simulation and practical experiment are both performed, and the results verify the effectiveness of the proposed control approach. In the future, the work will consider the teleoperation system where the initial error is not within the constraints of the finite-time performance function, and simplify the adaptive updating law.