A Novel Delay-Dependent Finite-Time Control of Telerobotics System With Asymmetric Time-Varying Delays

Finite-time stability (FTS) is desirable in teleoperation control as it provides fast transient, high-precision, and better disturbance rejection properties. In most cases, a stringent condition on communication time delays or an additional time-delay estimation method is necessary to guarantee finite-time synchronization with the existing finite-time control schemes for the teleoperation system. This article proposes the first result of global finite-time synchronization control algorithm for the teleoperation system without any approximation function. Specifically, a novel proportional plus damping (P + d) like control algorithm is designed by employing a continuous nonsmooth function on the position synchronization errors and the velocity signals, dexterously. Furthermore, global FTS is proved with the Lyapunov stability theory based on linear-matrix-inequality (LMI) and geometric homogeneous techniques. The delay-dependent FTS criteria are also derived, which can be used to compute the allowable maximal transmission delay with the given control parameters. Finally, simulation results demonstrate the effectiveness of the proposed approach, and experiments on a teleoperated pair of three-degree-of-freedom (DOF) PHANToM robots are also presented to show the superior performances of the control strategy.