Fixed Time Synchronization Control for Bilateral Teleoperation Mobile Manipulator with Nonholonomic Constraint and Time Delay

Guang Hui Xu; Feng Qi; Qiang Lai; Herbert Ho Ching Iu

doi:10.1109/TCSII.2020.2990698

Fixed Time Synchronization Control for Bilateral Teleoperation Mobile Manipulator with Nonholonomic Constraint and Time Delay

Guang Hui Xu, Feng Qi, Qiang Lai, Herbert Ho Ching Iu

Electrical, Electronic and Computer Engineering

Research output: Contribution to journal › Article › peer-review

46 Citations (Web of Science)

Abstract

In this brief, the fixed time synchronization control is investigated for nonholonomic mobile manipulator teleoperation system. The mobile manipulator is divided into two subsystems for analysis, which are nonholonomic mobile platform and holonomic constrained manipulator. Coupling terms between two subsystems are considered as disturbances. A fixed time synchronization controller is proposed to deal with the parameter uncertainties and unknown bounded disturbances. Lyapunov stability theory guarantees the stability of the closed-loop teleoperation system. Numerical simulations verify the effectiveness of the proposed results.

Original language	English
Article number	9080060
Pages (from-to)	3452-3456
Number of pages	5
Journal	IEEE Transactions on Circuits and Systems II: Express Briefs
Volume	67
Issue number	12
DOIs	https://doi.org/10.1109/TCSII.2020.2990698
Publication status	Published - Dec 2020

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abstract = "In this brief, the fixed time synchronization control is investigated for nonholonomic mobile manipulator teleoperation system. The mobile manipulator is divided into two subsystems for analysis, which are nonholonomic mobile platform and holonomic constrained manipulator. Coupling terms between two subsystems are considered as disturbances. A fixed time synchronization controller is proposed to deal with the parameter uncertainties and unknown bounded disturbances. Lyapunov stability theory guarantees the stability of the closed-loop teleoperation system. Numerical simulations verify the effectiveness of the proposed results.",

keywords = "nonholonomic constraint, Synchronization control, teleoperation mobile manipulator, time delay",

author = "Xu, {Guang Hui} and Feng Qi and Qiang Lai and Iu, {Herbert Ho Ching}",

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AU - Qi, Feng

AU - Lai, Qiang

AU - Iu, Herbert Ho Ching

PY - 2020/12

Y1 - 2020/12

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AB - In this brief, the fixed time synchronization control is investigated for nonholonomic mobile manipulator teleoperation system. The mobile manipulator is divided into two subsystems for analysis, which are nonholonomic mobile platform and holonomic constrained manipulator. Coupling terms between two subsystems are considered as disturbances. A fixed time synchronization controller is proposed to deal with the parameter uncertainties and unknown bounded disturbances. Lyapunov stability theory guarantees the stability of the closed-loop teleoperation system. Numerical simulations verify the effectiveness of the proposed results.

KW - nonholonomic constraint

KW - Synchronization control

KW - teleoperation mobile manipulator

KW - time delay

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Fixed Time Synchronization Control for Bilateral Teleoperation Mobile Manipulator with Nonholonomic Constraint and Time Delay

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