Prescribed performance output feedback synchronisation control of bilateral teleoperation system with actuator nonlinearities

Magdi S. Mahmoud and Muhammad Maaruf

International Journal of Systems Science, 2021, vol. 52, issue 15, 3115-3127

Abstract: 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.

Date: 2021
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DOI: 10.1080/00207721.2021.1921308

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