Predefined-time control for single-master-multiple-slave teleoperation systems with prescribed performance

In this paper, the predefined-time control problem with prescribed performance is investigated for bilateral teleoperation systems with a single master and multiple slaves. The difficulty lies in the realization of predefined time stability and synchronization control of single-master and multi-slave manipulators. A prescribed performance function is introduced and an improved error conversion mechanism for matrix transformation is designed to ensure that joint displacement tracking error is constrained. A novel coordination position error transformation is defined such that the positional synchronization of the single-master-multiple-slave manipulators is achieved. Based on graph theory and Lyapunov stability theorem, a novel adaptive neural control approach is developed with predefined time interval via the backstepping technique, such that the convergence time can be predefined by users specification, the tracking error can be limited within a prescribed bound and in the meantime can converge to zero within predefined time interval. Simulation results are provided to prove the effectiveness of the presented scheme.