Hierarchical Prescribed-Performance Nonlinear Control for Teleoperation of Networked Secondary Robots With Coupling Constraints

In order to solve the problems of the insufficient static-dynamic performance and coupling constraints (namely, input saturation, input dead zone, and output constraint) for practical teleoperation systems, the teleoperation framework of the networked secondary robots with the directed communication network is newly constructed; meanwhile, the hierarchical prescribed-performance nonlinear control algorithm being consisted of the local controller and the state estimator is proposed for the constructed framework. This framework allows us to prescribe the static-dynamic performance of the controlled system in advance. In the process of the state estimator, the communication load of multiple secondary robots is deployed in a distributed and cost-effective way. In the local controller, the tracking error is transformed and well regulated by using the newly designed prescribed-performance constrained boundary. Besides, the novel adaptive fuzzy strategy is presented to eliminate the effects of input saturation and dead zone. Furthermore, the output constraint of the system is also ensured by using the local controller with the barrier Lyapunov function.