A fixed-time stable underwater manipulator time-varying delay teleoperation system with input saturation

In this paper, we consider the problem of bilateral teleoperation of underwater manipulators with time-varying delay, input saturation, and system stability that can be achieved at a fixed time. A non-general prescribed performance function is added to the terminal sliding surface and a virtual system is introduced to overcome the difficulties caused by actuator saturation. Based on the terminal sliding surface, a control scheme is designed to achieve the prescribed performance of position synchronization and virtual error. The stability of the system is proved using the barrier Lyapunov function theory, and a fixed bound on the global settling time is further calculated. Finally, the feasibility and effectiveness of the scheme are verified by simulation experiments.