This work investigates output feedback synchronisation control of uncertain bilateral teleoperation system with synchronisation error constraints, time-varying delay, actuator backlash-like hysteresis and unknown control direction. The constrained system is transformed into unconstrained one via the output error transformation. A Prescribed-Performance Function (PPF) is proposed to ensure that all the outputs with predefined transient and steady states' performances converge to a predefined set. In addition, a radial basis function neural network (RBFNN) is utilised to estimate the uncertain dynamics. Moreover, a Nussbaum-type function is introduced to tackle the loss of control direction due to the actuator backlash-like hysteresis. By Lyapunov stability analysis, all the closed-loop signals are guaranteed to converge to a small neighbourhood of the origin. Finally, simulation results are provided to demonstrate the effectiveness of the proposed method.

这项工作研究了具有同步误差约束、时变延迟、致动器反向间隙滞后和未知控制方向的不确定双边遥操作系统的输出反馈同步控制。约束系统通过输出误差变换转化为无约束系统。提出了规定的性能函数 (PPF)，以确保具有预定义瞬态和稳态性能的所有输出收敛到预定义的集合。此外，径向基函数神经网络（RBFNN）用于估计不确定的动态。此外，引入了 Nussbaum 型函数来解决由于执行器反向间隙滞后导致的控制方向丢失问题。通过李雅普诺夫稳定性分析，所有闭环信号都保证收敛到原点的一个小邻域。最后，仿真结果证明了所提出方法的有效性。