Multiapproximator-based adaptive fault-tolerant control for teleoperation systems with deferred asymmetric time-varying output constraints
The investigation of the synchronization control problem for a class of nonlinear teleoperation systems with asymmetric time-varying output constraints and actuator failures is critical for the safe implementation of remote control tasks in a complicated environment. This study expands the applicabi...
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| Veröffentlicht in: | Nonlinear dynamics 2023-06, Vol.111 (11), p.10163-10181 |
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| container_title | Nonlinear dynamics |
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| creator | Li, Longnan Liu, Zhengxiong Guo, Shaofan Ma, Zhiqiang Yu, Jianhui Huang, Panfeng |
| description | The investigation of the synchronization control problem for a class of nonlinear teleoperation systems with asymmetric time-varying output constraints and actuator failures is critical for the safe implementation of remote control tasks in a complicated environment. This study expands the applicability scope of existing constraint control strategies. The shifting function and the asymmetric barrier Lyapunov function are employed to ensure that the system’s output constraints are satisfied regardless of whether the initial values are within the constraint boundary. Thus, the strict assumption related to constraint issues in existing references are effectively removed. Meanwhile, neural learning-based nonlinear disturbance observers are utilized to approximate the lumped uncertainty of teleoperation systems. After that, a multiapproximator-based adaptive fault-tolerant control scheme is proposed to achieve synchronization tracking of teleoperation systems. Compared with other references, the proposed method can guarantee superior control performance, and the outputs of the system never violate the time-varying output boundaries. Finally, simulations and experiments are implemented to verify the feasibility and availability of the proposed control scheme with the teleoperation platform composed of two Phantom Omni 3D Touch robots. |
| doi_str_mv | 10.1007/s11071-023-08373-2 |
| format | Article |
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This study expands the applicability scope of existing constraint control strategies. The shifting function and the asymmetric barrier Lyapunov function are employed to ensure that the system’s output constraints are satisfied regardless of whether the initial values are within the constraint boundary. Thus, the strict assumption related to constraint issues in existing references are effectively removed. Meanwhile, neural learning-based nonlinear disturbance observers are utilized to approximate the lumped uncertainty of teleoperation systems. After that, a multiapproximator-based adaptive fault-tolerant control scheme is proposed to achieve synchronization tracking of teleoperation systems. Compared with other references, the proposed method can guarantee superior control performance, and the outputs of the system never violate the time-varying output boundaries. Finally, simulations and experiments are implemented to verify the feasibility and availability of the proposed control scheme with the teleoperation platform composed of two Phantom Omni 3D Touch robots.</description><identifier>ISSN: 0924-090X</identifier><identifier>EISSN: 1573-269X</identifier><identifier>DOI: 10.1007/s11071-023-08373-2</identifier><language>eng</language><publisher>Dordrecht: Springer Netherlands</publisher><subject>Actuator failure ; Adaptive control ; Approximation ; Asymmetry ; Automotive Engineering ; Classical Mechanics ; Control ; Control tasks ; Disturbance observers ; Dynamical Systems ; Engineering ; Failure ; Fault tolerance ; Liapunov functions ; Mechanical Engineering ; Nonlinear systems ; Original Paper ; Remote control ; Robots ; Synchronism ; Teleoperators ; Vibration</subject><ispartof>Nonlinear dynamics, 2023-06, Vol.111 (11), p.10163-10181</ispartof><rights>The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c363t-e92355e1e51e42ff38f0306c486deb5937d161b9020168aaed9bc051276cab143</citedby><cites>FETCH-LOGICAL-c363t-e92355e1e51e42ff38f0306c486deb5937d161b9020168aaed9bc051276cab143</cites><orcidid>0000-0002-9427-4066</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s11071-023-08373-2$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s11071-023-08373-2$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,776,780,27901,27902,41464,42533,51294</link.rule.ids></links><search><creatorcontrib>Li, Longnan</creatorcontrib><creatorcontrib>Liu, Zhengxiong</creatorcontrib><creatorcontrib>Guo, Shaofan</creatorcontrib><creatorcontrib>Ma, Zhiqiang</creatorcontrib><creatorcontrib>Yu, Jianhui</creatorcontrib><creatorcontrib>Huang, Panfeng</creatorcontrib><title>Multiapproximator-based adaptive fault-tolerant control for teleoperation systems with deferred asymmetric time-varying output constraints</title><title>Nonlinear dynamics</title><addtitle>Nonlinear Dyn</addtitle><description>The investigation of the synchronization control problem for a class of nonlinear teleoperation systems with asymmetric time-varying output constraints and actuator failures is critical for the safe implementation of remote control tasks in a complicated environment. This study expands the applicability scope of existing constraint control strategies. The shifting function and the asymmetric barrier Lyapunov function are employed to ensure that the system’s output constraints are satisfied regardless of whether the initial values are within the constraint boundary. Thus, the strict assumption related to constraint issues in existing references are effectively removed. Meanwhile, neural learning-based nonlinear disturbance observers are utilized to approximate the lumped uncertainty of teleoperation systems. After that, a multiapproximator-based adaptive fault-tolerant control scheme is proposed to achieve synchronization tracking of teleoperation systems. Compared with other references, the proposed method can guarantee superior control performance, and the outputs of the system never violate the time-varying output boundaries. Finally, simulations and experiments are implemented to verify the feasibility and availability of the proposed control scheme with the teleoperation platform composed of two Phantom Omni 3D Touch robots.</description><subject>Actuator failure</subject><subject>Adaptive control</subject><subject>Approximation</subject><subject>Asymmetry</subject><subject>Automotive Engineering</subject><subject>Classical Mechanics</subject><subject>Control</subject><subject>Control tasks</subject><subject>Disturbance observers</subject><subject>Dynamical Systems</subject><subject>Engineering</subject><subject>Failure</subject><subject>Fault tolerance</subject><subject>Liapunov functions</subject><subject>Mechanical Engineering</subject><subject>Nonlinear systems</subject><subject>Original Paper</subject><subject>Remote control</subject><subject>Robots</subject><subject>Synchronism</subject><subject>Teleoperators</subject><subject>Vibration</subject><issn>0924-090X</issn><issn>1573-269X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2023</creationdate><recordtype>article</recordtype><sourceid>BENPR</sourceid><recordid>eNp9kE1LxDAQhoMouK7-AU8Bz9FJsv06ivgFK14UvIW0nWqkbWoyXd2_4K-2uyt485QhPO87zMPYqYRzCZBdRCkhkwKUFpDrTAu1x2Yy2Qxp8bLPZlCohYACXg7ZUYzvAKAV5DP2_TC25OwwBP_lOks-iNJGrLmt7UBuhbyxEyHItxhsT7zyPQXf8sYHTtiiH6Z_cr7ncR0Ju8g_Hb3xGhsMYdMT112HFFzFyXUoVjasXf_K_UjDuK2LFKzrKR6zg8a2EU9-3zl7vrl-uroTy8fb-6vLpah0qklgoXSSoMRE4kI1jc4b0JBWizytsUwKndUylWUBCmSaW4t1UVaQSJWllS3lQs_Z2a53uvljxEjm3Y-hn1YalUOhZZrpDaV2VBV8jAEbM4RJUFgbCWbj3Oycm8m52To3agrpXShOcP-K4a_6n9QPwlOJIw</recordid><startdate>20230601</startdate><enddate>20230601</enddate><creator>Li, Longnan</creator><creator>Liu, Zhengxiong</creator><creator>Guo, Shaofan</creator><creator>Ma, Zhiqiang</creator><creator>Yu, Jianhui</creator><creator>Huang, Panfeng</creator><general>Springer Netherlands</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>AFKRA</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>L6V</scope><scope>M7S</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><orcidid>https://orcid.org/0000-0002-9427-4066</orcidid></search><sort><creationdate>20230601</creationdate><title>Multiapproximator-based adaptive fault-tolerant control for teleoperation systems with deferred asymmetric time-varying output constraints</title><author>Li, Longnan ; Liu, Zhengxiong ; Guo, Shaofan ; Ma, Zhiqiang ; Yu, Jianhui ; Huang, Panfeng</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c363t-e92355e1e51e42ff38f0306c486deb5937d161b9020168aaed9bc051276cab143</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2023</creationdate><topic>Actuator failure</topic><topic>Adaptive control</topic><topic>Approximation</topic><topic>Asymmetry</topic><topic>Automotive Engineering</topic><topic>Classical Mechanics</topic><topic>Control</topic><topic>Control tasks</topic><topic>Disturbance observers</topic><topic>Dynamical Systems</topic><topic>Engineering</topic><topic>Failure</topic><topic>Fault tolerance</topic><topic>Liapunov functions</topic><topic>Mechanical Engineering</topic><topic>Nonlinear systems</topic><topic>Original Paper</topic><topic>Remote control</topic><topic>Robots</topic><topic>Synchronism</topic><topic>Teleoperators</topic><topic>Vibration</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Li, Longnan</creatorcontrib><creatorcontrib>Liu, Zhengxiong</creatorcontrib><creatorcontrib>Guo, Shaofan</creatorcontrib><creatorcontrib>Ma, Zhiqiang</creatorcontrib><creatorcontrib>Yu, Jianhui</creatorcontrib><creatorcontrib>Huang, Panfeng</creatorcontrib><collection>CrossRef</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central UK/Ireland</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Engineering Collection</collection><collection>Engineering Database</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><jtitle>Nonlinear dynamics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Li, Longnan</au><au>Liu, Zhengxiong</au><au>Guo, Shaofan</au><au>Ma, Zhiqiang</au><au>Yu, Jianhui</au><au>Huang, Panfeng</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Multiapproximator-based adaptive fault-tolerant control for teleoperation systems with deferred asymmetric time-varying output constraints</atitle><jtitle>Nonlinear dynamics</jtitle><stitle>Nonlinear Dyn</stitle><date>2023-06-01</date><risdate>2023</risdate><volume>111</volume><issue>11</issue><spage>10163</spage><epage>10181</epage><pages>10163-10181</pages><issn>0924-090X</issn><eissn>1573-269X</eissn><abstract>The investigation of the synchronization control problem for a class of nonlinear teleoperation systems with asymmetric time-varying output constraints and actuator failures is critical for the safe implementation of remote control tasks in a complicated environment. This study expands the applicability scope of existing constraint control strategies. The shifting function and the asymmetric barrier Lyapunov function are employed to ensure that the system’s output constraints are satisfied regardless of whether the initial values are within the constraint boundary. Thus, the strict assumption related to constraint issues in existing references are effectively removed. Meanwhile, neural learning-based nonlinear disturbance observers are utilized to approximate the lumped uncertainty of teleoperation systems. After that, a multiapproximator-based adaptive fault-tolerant control scheme is proposed to achieve synchronization tracking of teleoperation systems. Compared with other references, the proposed method can guarantee superior control performance, and the outputs of the system never violate the time-varying output boundaries. 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| subjects | Actuator failure Adaptive control Approximation Asymmetry Automotive Engineering Classical Mechanics Control Control tasks Disturbance observers Dynamical Systems Engineering Failure Fault tolerance Liapunov functions Mechanical Engineering Nonlinear systems Original Paper Remote control Robots Synchronism Teleoperators Vibration |
| title | Multiapproximator-based adaptive fault-tolerant control for teleoperation systems with deferred asymmetric time-varying output constraints |
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