Finite-Time Control of Teleoperation Systems With Input Saturation and Varying Time Delays

2017 ◽  
Vol 47 (7) ◽  
pp. 1522-1534 ◽  
Author(s):  
Di-Hua Zhai ◽  
Yuanqing Xia
Keyword(s):  
Finite Time ◽  
Time Delays ◽  
Input Saturation ◽  
Time Control ◽  
Teleoperation Systems

Adaptive finite-time control for bilateral teleoperation systems with jittering time delays

2018 ◽  
Vol 29 (4) ◽  
pp. 1007-1030 ◽  
Author(s):  
Ziwei Wang ◽  
Zhang Chen ◽  
Yiman Zhang ◽  
Xingyao Yu ◽  
Xiang Wang ◽  
...  
Keyword(s):  
Finite Time ◽  
Time Delays ◽  
Bilateral Teleoperation ◽  
Time Control ◽  
Teleoperation Systems

Adaptive Finite-Time Control for Attitude Tracking of Spacecraft under Input Saturation

2018 ◽  
Vol 31 (2) ◽  
pp. 04017086 ◽  
Author(s):  
Yong Guo ◽  
Bing Huang ◽  
Shuo Wang ◽  
Ai-jun Li ◽  
Chang-qing Wang
Keyword(s):  
Finite Time ◽  
Input Saturation ◽  
Time Control ◽  
Attitude Tracking

Finite-time tracking control for nonstrict-feedback nonlinear systems with unknown time delays and input saturation

2021 ◽  
pp. 014233122110583
Author(s):  
Xiaojing Qi ◽  
Wenhui Liu
Keyword(s):  
Finite Time ◽  
State Constraints ◽  
Tracking Error ◽  
Input Saturation ◽  
Small Neighborhood ◽  
Delay Systems ◽  
Fuzzy Logic Systems ◽  
Time Control ◽  
Full State ◽  
Full State Constraints

In this article, the problem of adaptive finite-time control is studied for a category of nonstrict-feedback nonlinear time-delay systems with input saturation and full state constraints. The fuzzy logic systems are applied to model the unknown nonlinear terms in the systems. Then, a novel tan-type barrier Lyapunov function is adopted to overcome the problem of full state constraints. By utilizing the finite-time control theory and the backstepping technique, a finite-time fuzzy adaptive controller is designed. The controller can guarantee that the tracking error is adjusted around zero with a small neighborhood in a finite time and all the signals in the closed-loop system are bounded. Finally, two simulation examples are included to verify the validity and feasibility of the control scheme.

scholarly journals Neural network adaptive command filtered control of robotic manipulators with input saturation

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989477
Author(s):  
Lin Wang ◽  
Chunzhi Yang
Keyword(s):  
Neural Network ◽  
Finite Time ◽  
Tracking Error ◽  
Input Saturation ◽  
Robotic Manipulators ◽  
Small Region ◽  
Network Control ◽  
External Disturbances ◽  
Time Control ◽  
The Neural Network

This paper investigates finite-time control of uncertain robotic manipulators with external disturbances by means of neural network control and backstepping technique. To solve the “explosion of terms” in traditional backstepping control, a second-order command filter is designed, and the virtual input and its first-order derivative can be obtained accurately in a finite time. The parameters of the neural network are updated by using the tracking error signals. The proposed controller can guarantee that the tracking error converges to a small region of the origin in some finite time. Finally, we give a simulation study to show the effectiveness of the proposed method.

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