Finite-time controller for robot bilateral teleoperation

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.