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Adaptive control of teleoperation systems with prescribed tracking performance: a BLF-based approach
International Journal of Control ( IF 2.1 ) Pub Date : 2020-12-31 , DOI: 10.1080/00207179.2020.1866212
Yuling Li 1, 2 , Zheng Liu 1, 2 , Zilong Wang 1, 2 , Yixin Yin 1, 2 , Baoyong Zhao 1, 2
Affiliation  

Adaptive control for a class of teleoperation systems with prescribed transient-state and steady-state tracking behavior is considered in this paper. Novel sliding variables are proposed such that the performance constraints which characterize the prescribed tracking performance can be addressed by a Barrier Lyapunov Function, and the backstepping-like approaches that are typically employed to the control of robotic systems are avoided. Besides, the acceleration information of the robots which is usually explored in the recently proposed prescribed-performance-based control design, but not easy to be available in real applications, is not included. In this respect, a control scheme of low complexity and straightforward implementation is obtained. The satisfaction of the tracking error convergence is illustrated by theoretical analysis and is verified by comparative simulation studies.



中文翻译:

具有规定跟踪性能的远程操作系统的自适应控制:一种基于 BLF 的方法

本文考虑了一类具有规定的瞬态和稳态跟踪行为的遥操作系统的自适应控制。提出了新的滑动变量,使得表征规定跟踪性能的性能约束可以通过障碍李雅普诺夫函数来解决,并且避免了通常用于机器人系统控制的类似反步的方法。此外,机器人的加速度信息通常在最近提出的基于规定性能的控制设计中被探索,但在实际应用中不易获得。在这方面,获得了低复杂度和简单实现的控制方案。

更新日期:2020-12-31
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