Finite-time controller for robot bilateral teleoperation

https://doi.org/10.58571/CNCA.AMCA.2024.024

Resumen: In this paper, a modification of the classical proportional plus damping injection control scheme is proposed to solve the bilateral teleoperation problem in finite-time for fully actuated Euler-Lagrange systems in the joint space. In order to prove finite-time convergence, the controller is designed to provide global asymptotic stability and then, by properly designing the control parameters, the closed-loop system is proved to admit a homogeneous approximation of negative degree. Simulation results with a teleoperation system composed of two robots with six degrees of freedom are given to show the effectiveness of the proposed scheme.

¿Cómo citar?

Torres, L.F., Aldana, C.I., Nuño, E. & Cruz Zavala, E. (2024). Finite-time controller for robot bilateral teleoperation. Memorias del Congreso Nacional de Control Automático 2024, pp. 138-143. https://doi.org/10.58571/CNCA.AMCA.2024.024

Palabras clave

Euler-Lagrange (EL) systems, bilateral teleoperation, finite-time (FT) control, proportional-derivative (PD) control

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