Finite-time coordination control for networked bilateral teleoperation

摘要

A continuous finite-time control scheme for networked bilateral teleoperation is proposed in this brief. The terminal sliding mode technology is used and new master-slave torques are designed. With the new controller, the coordination error of the master manipulator and the slave manipulator converges to zero in finite time. Moreover, the reaching time and the sliding time can be derived. Finally, the comparisons are performed and simulations show the effectiveness of the proposed approach.