Practical Preassigned Fixed-Time Fuzzy Control for Teleoperation System Under Scheduled Shared-Control Framework

摘要

This article devotes to propose a novel synchronization control algorithm for networked nonlinear master–slave system under a scheduled shared-control structure to skillfully solve the problems of easy fatigue caused for continuous operation on human operators in the existing immobilized teleoperation system. Specially, a novel composite fuzzy learning control (CFLC) law is innovatively designed by incorporating the current and past values of the learning data to more effectively compensate what the system uncertainties cause. Then, a new practical preassigned fixed-time nonsingular terminal sliding-mode (PFNTSM) control algorithm with the shared-control framework is subsequently established, which is beneficial to sustain the continuity, nonsingularity, and higher robustness to system uncertainties. A significant feature of this study is that a complete force-position synchronous tracking and transparency-lifting human–robot interaction are realized. Moreover, the absolute stability of the two-port networked system under complex transmission time delays is rigorously proved. Finally, compared experimental results are presented to realistically verify the proposed control theory available.