Fixed Time Synchronization Control for Bilateral Teleoperation Mobile Manipulator With Nonholonomic Constraint and Time Delay

Abstract

In this brief, the fixed time synchronization control is investigated for nonholonomic mobile manipulator teleoperation system. The mobile manipulator is divided into two subsystems for analysis, which are nonholonomic mobile platform and holonomic constrained manipulator. Coupling terms between two subsystems are considered as disturbances. A fixed time synchronization controller is proposed to deal with the parameter uncertainties and unknown bounded disturbances. Lyapunov stability theory guarantees the stability of the closed-loop teleoperation system. Numerical simulations verify the effectiveness of the proposed results.