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Fixed-time adaptive neural network synchronization control for teleoperation system with position error constraints and time-varying delay

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Abstract

This paper investigates the fixed-time master–slave synchronization control of teleoperation system with asymmetric position errors constraints, dynamics uncertainties and time-varying delay. First, we propose an adaptive fixed-time combined with Barrier Lyapunov Functions controller to figure out asymmetric constraints issues, and it also applies to the case of teleoperation system with no constraint or symmetric state constraint requirements. Second, the adaptive radial basis function neural networks and linearly parameterizable control methods are used for dealing with the uncertainties and time-varying delay problems of system. Next, it is demonstrated that the globally fixed-time stability performance of teleoperation can be achieved through the proposed control strategy and the asymmetric constraint requirements of the position synchronization errors are met all the time. Finally, simulation validates the feasibility of the control method.

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Acknowledgements

This work was supported in part by the Natural Science Foundation of Hebei Province (No. F2022208007), in part by the Foundation of Science and Technology Project of Hebei Education Department (No. ZD2022136), in part by the Basic Research Quality Improvement Project of Hebei University of Science and Technology (No. 2021YWF12), in part by the Doctoral Research Foundation of Hebei University of Science and Technology (No. 1181439), in part by the Subject Competition Teaching Reform Project of School of Electrical Engineering, Hebei University of Science and Technology (No. DQJ20210401), in part by the Military Science and Technology Commission of China (Nos. 2413087 and 2020-JCJQ-JJ-217), and in part by the Graduate Student Innovation Ability Training Project of Hebei Education Department (Nos. XJCXZZSS2022011 and CXZZSS2023097).

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  1. School of Sciences, Hebei University of Science and Technology, Shijiazhuang, 050018, Hebei, People’s Republic of China

    Shan Su & Yude Ji

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Su, S., Ji, Y. Fixed-time adaptive neural network synchronization control for teleoperation system with position error constraints and time-varying delay. Nonlinear Dyn 111, 13053–13072 (2023). https://doi.org/10.1007/s11071-023-08509-4

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