Robust Preassigned-Time Myoelectricity-Incorporated Gain Control for a Class of Uncertain Teleoperation Systems

This paper is devoted to the preassigned-time synchronous control for the uncertain teleoperation system with myoelectricity-incorporated control gain. Firstly, the system possesses more satisfactory robustness on the lumped uncertainties via a novel predefined-time exponent disturbance observer (PTEDO). Furthermore, a predefined-time sliding mode control (PTSMC) based on the modified impedance model is creatively designed for the fast-transient, and high-precision position/force synchronization. For enhancement of human-robot interaction (HRI) abilities, a wearable armband utilized to collect electromyographic (EMG) signals is adopted to construct a autonomic-adjustable control gain, which is skillfully incorporated with impedance model to heighten the autonomy and flexility of system. Besides, the absolute stability of the two-port networked system under complex transmission time delays is rigorously proved. Finally, numeric examples are presented to realistically verify the proposed control theory available.