Synchronization control for bilateral teleoperation system with prescribed performance under asymmetric time delay

摘要

The position synchronization problem is addressed for bilateral teleoperation system under asymmetric time delay in this paper. A new control scheme is proposed to guarantee the synchronization errors between the master and slave bounded by pre-defined decreasing boundaries. The adaptive fuzzy method is used to compensate for the system uncertainties and the external disturbances. Then the corresponding adaptive fuzzy-based prescribed performance controller is designed. With the new controller, the synchronization performance is achieved regarding both the transient-state performance as well as the steady-state performance. By choosing proper Lyapunov functions, the prescribed synchronization performance with the new controller is proved with external forces from the human operator and the remote task environment. Finally, simulation and experiment results are both presented to show the effectiveness of the proposed approach.