Adaptive Finite-Time Control Scheme for Teleoperation With Time-Varying Delay and Uncertainties

The communication time delay and uncertain models of robotic manipulators are the major problem in the teleoperation system, which can reduce the performance and stability of the system. This article proposed a novel finite-time adaptive control scheme for position and force tracking performances of the teleoperation system. First, a combined auxiliary error system with position and force tracking errors is designed. Second, a velocity feedback filter is introduced, and a new auxiliary variable function with finite-time structure is designed for controller design. The radial basis function neural network (RBFNN) is applied to estimate the uncertain parts. Then the finite-time adaptive control scheme and adaptive laws are given. Third, based on the Lyapunov method, stability and finite-time performance are demonstrated. And finally, the simulation and experimental studies (with Phantom Ommi devices) are performed and demonstrate the effectiveness of the proposed control scheme on teleoperation position/force tracking.

Automated summary

This article proposes a finite-time adaptive control scheme for the position and force tracking performances of teleoperation systems, addressing the issues of communication time delay and uncertain models of robotic manipulators. By introducing a combined auxiliary error system, a velocity feedback filter, and a new auxiliary variable function with a finite-time structure, the proposed scheme achieves control over position and force tracking. The effectiveness of the scheme is demonstrated through simulation and experimental studies using Phantom Omni devices.