Finite-Time Teleoperation of Euler-Lagrange Systems via Energy-Shaping
🤖 AI Summary
This work proposes a continuous-time proportional-damping injection controller for bilateral teleoperation of fully actuated nonlinear Euler–Lagrange systems, achieving finite-time global synchronization of position and velocity between master and slave systems under the assumptions of no time delay and passive human–machine/environment interactions. By uniquely integrating energy shaping with homogeneous system theory, the proposed approach ensures finite-time global stability of the closed-loop system while maintaining a simple controller structure that avoids complex computations. Both simulations and experimental results demonstrate the excellent dynamic performance and robustness of the developed scheme.
Application Category
📝 Abstract
This paper proposes a family of finite-time controllers for the bilateral teleoperation of fully actuated nonlinear Euler-Lagrange systems. Based on the energy-shaping framework and under the standard assumption of passive interactions with the human and the environment, the controllers ensure that the position error and velocities globally converge to zero in the absence of time delays. In this case, the closed-loop system admits a homogeneous approximation of negative degree, and thus the control objective is achieved in finite-time. The proposed controllers are simple, continuous-time proportional-plus-damping-injection schemes, validated through both simulation and experimental results.
Problem
Research questions and friction points this paper is trying to address.
finite-time teleoperation
Euler-Lagrange systems
position error convergence
bilateral teleoperation
fully actuated systems
Innovation
Methods, ideas, or system contributions that make the work stand out.
finite-time control
energy-shaping
Euler-Lagrange systems
bilateral teleoperation
homogeneous approximation
🔎 Similar Papers
No similar papers found.
