Abstract
Abstract In this work, a new adaptive control scheme is presented for a class of bilateral teleoperation system with system uncertainties, jittering time delays, and state-constraint problem. A fixed-time control strategy with a novel proposed exponential-type Barrier Lyapunov Function (EBLF) is incorporated to achieve fixed-time convergence with state error constraints through the “adding a power integrator” technique and the full-order sliding mode method. During the sliding motion, the system behaves as a desirable full-order dynamics rather than a reduced-order dynamics. The singularity phenomena and chattering problem are avoided while fixed-time convergence without violation of full-state constraints is guaranteed. Simulation results further demonstrate the effectiveness of the proposed method.
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