Fixed-time velocity reconstruction scheme for space teleoperation systems: Exp Barrier Lyapunov Function approach

Abstract

In this work, a novel exponential-type Barrier Lyapunov Function (EBLF) is proposed for nonlinear systems with constraint requirements. The most prominent feature of EBLF is that it can be used in a unified scheme, which deals with full state constrained and output constrained problems of SISO/MIMO systems. Together with the EBLF, a novel adaptive velocity reconstruction scheme is presented for a class of space teleoperation systems with external disturbances. Full-state observation errors are guaranteed to converge without violation of the prescribed constraints. Guaranteed constraint observer performance is available. Moreover, the settling time is only dependent on the observer parameters but not initial values or external disturbances. The design and analysis of the observer and the controller are independent. Simulation results further demonstrate the properties of fixed-time and guaranteed-constraint performance of the proposed scheme.