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Model‐free sliding mode control for a nonlinear teleoperation system with actuator dynamics

Abdelwaheb Henni Mansour, Abderrahmane Kacimi, AEK Belaidi

Journal of Automation Mobile Robotics and Intelligent Systems

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2023

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Vol. 17, No. 1

69--77

EN

Teleoperation robotic systems control, which enables humans to perform activities in remote situations, has become an extremely challenging field in recent decades. In this paper, a Model Free Proportional‐Derivative Slid‐ ing Mode Controller (MFPDSMC) is devoted to the syn‐ chronization problem of teleoperation systems subject to actuator dynamics, time‐varying delay, model uncer‐ tainty, and input interaction forces. For the first time, the teleoperation model used in this study combines actuator dynamics and manipulator models into a single equation, which improves model accuracy and brings it closer to the actual system than in prior studies. Further, the proposed control approach, called Free, involves the simple mea‐ surement of inputs and outputs to enhance the system’s performance without relying on any knowledge from the mathematical model. In addition, our strategy includes a Sliding Mode term with the MFPD term to increase system stability and attain excellent performance against external disturbances. Finally, using the Lyapunov func‐ tion under specified conditions, asymptotic stability is established, and simulation results are compared and provided to demonstrate the efficacy of the proposed strategy.

2

Anti-periodic solutions for Clifford-valued high-order Hopfield neural networks with state-dependent and leakage delays

Huo Nina, Li Bing, Li Yongkun

International Journal of Applied Mathematics and Computer Science

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2020

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Vol. 30, no. 1

83--98

EN

A class of Clifford-valued high-order Hopfield neural networks (HHNNs) with state-dependent and leakage delays is considered. First, by using a continuation theorem of coincidence degree theory and the Wirtinger inequality, we obtain the existence of anti-periodic solutions of the networks considered. Then, by using the proof by contradiction, we obtain the global exponential stability of the anti-periodic solutions. Finally, two numerical examples are given to illustrate the feasibility of our results.

3

A novel robust H1 fuzzy state-feedback control design on nonlinear Markovian jump systems with time-varyin delay

Assawinchaichote W.

Control and Cybernetics

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2014

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Vol. 43, no. 2

227--248

EN

This paper considers the problem of designing a robust H∞ fuzzy state-feedback controller for a class of nonlinear Markovian jump systems with time-varying delay. A novel design methodology has been proposed for designing a controller that guarantees the L2-gain of the mapping from the exogenous input noise to the regulated output to be less than some prescribed value. Solutions to the problem are provided in terms of linear matrix inequalities. To illustrate the effectiveness of the design developed in this paper, a numerical example is also provided.

4

A Lyapunov functional for a neutral system with a time-varying delay

Duda J.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2013

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Vol. 61, nr 4

911--918

EN

The paper presents a method of determining of the Lyapunov functional for a linear neutral system with an interval time-varying delay. The Lyapunov functional is constructed for the system with a time-varying delay with a given time derivative, which is calculated on the trajectory of the system with a time-varying delay. The presented method gives analytical formulas for the coefficients of the Lyapunov functional.

5

Criteria for Stability of Uncertain Linear Systems With Time-Varying Delay

Han Q. L., Gu K.

International Journal of Applied Mathematics and Computer Science

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2000

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Vol. 10, no 2

205-225

EN

This paper focuses on the stability problem for uncertain linear systems with time-varying delays. Based on a discretized Lyapunov functional approach, delay-dependent criteria that are formulated in terms of linear matrix inequalities are proposed to guarantee asymptotic stability for such systems. Numerical examples are also included to show the effectiveness of the method.