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

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.

Keywords:

• Bilateral teleoperation
• synchronisation control
• RBFNN
• backlash-like hysteresis

Acknowledgments

The authors acknowledge the support provided by the DSR at KFUPM through the distinguished professorship award project no. DUP191006.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by King Fahd University of Petroleum and Minerals [Deanship of Scientific Research DUP19106].