Abstract

Stability and transparency are the primary aims in the control nonlinear master and slave systems. Ignoring input saturation and disturbances like dynamic uncertainties may result in performance depression and instability of the system. This paper proposes a nonlinear controller to guarantee the stability and to ameliorate the adverse effects of disturbances, time delays and input saturation on a master and slave system. First, a disturbance observer is developed without requiring acceleration measurements. Then, a disturbance observer-based control law is proposed for the case of input saturation to suppress the problems caused by saturation. The proposed controller can prevent the actuators to work beyond their capabilities and also, effectively handles abnormal situations. The Lyapunov-based analysis shows the ultimately boundedness of the closed-loop signals. Finally, simulations are given to validate the results.

中文翻译：

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具有输入饱和的基于扰动观测器的主从系统控制

摘要

稳定性和透明性是控制非线性主从系统的主要目标。忽略输入饱和度和动态不确定性等干扰可能会导致性能下降和系统不稳定。本文提出了一种非线性控制器，以保证稳定性并减轻干扰，时间延迟和输入饱和对主从系统的不利影响。首先，开发了不需要观测加速度的干扰观测器。然后，针对输入饱和的情况，提出了一种基于干扰观测器的控制律，以抑制由饱和引起的问题。提出的控制器可以防止执行器超出其功能范围工作，并且可以有效地处理异常情况。基于李雅普诺夫的分析显示了闭环信号的最终有界性。最后，通过仿真来验证结果。