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

Research output: Contribution to journalArticlepeer-review

49 Citations (Scopus)

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 languageEnglish
Article number9080060
Pages (from-to)3452-3456
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Volume67
Issue number12
DOIs
Publication statusPublished - Dec 2020

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