Finite-time control of teleoperation systems with input saturation and varying time delays

This paper develops a finite-Time control approach for nonlinear teleoperation systems, which is capable of unifying the study of model uncertainties, actuator saturation, and asymmetric time-varying delays in the same framework. First, a novel anti-windup compensator is designed to analyze the effect of actuator saturation. To achieve the finite-Time tracking, a nonsmooth generalized switched filter is also investigated. By introducing the anti-windup compensator and the generalized switched filter into the adaptive fuzzy control torque design, a novel finite-Time controller is developed. By using the multiple Lypaunov-Krasovskii functionals method, the resulting closed-loop system is state-independent input-To-output practical stable (SIIOpS) and based on this, it is proved to be finitetime SIIOpS. It is shown that the asymptotic convergence of the adaptive estimation errors and the finite-Time convergence of the position tracking errors are obtained, whether the robots contact with the human operator/environment or not. Finally, the effectiveness is demonstrated by the simulation results.