Adaptive Practical Predefined-Time Control for Uncertain Teleoperation Systems With Input Saturation and Output Error Constraints

Abstract

In this paper, the synchronization tracking control issue is investigated for uncertain teleoperation systems with input saturation and output error constraints. To this end, an adaptive practical predefined-time control scheme integrating backstepping recursive design, predefined time theory, prescribed performance function, and the anti-saturation auxiliary system, is developed for the first time. A fixed-time extended state observer is utilized to eliminate the negative influence of the lumped uncertainty, and the anti-saturation auxiliary system is constructed to address the input saturation. In contrast to finite/fixed-time controllers, the upper bound of convergence time can be obtained in advance by adjusting a single control parameter. The results indicate that the error signals can converge into a small region of the zero domain within a user-defined time and that the output error never violates the prescribed performance boundary. Simulations and experiments are performed on a teleoperation platform made up of two Phantom Touch robots to verify the effectiveness and practicality of the developed controller.