Abstract
Finite-time synchronization control means that system synchronization performance is achieved in finite time. Compared with the general control schemes, finite-time control can guarantee faster convergence rate and higher convergence precision. This paper investigates the finite-time synchronization control problem of networked teleoperation system with time delay. A nonsingular fast terminal sliding mode (NFTSM)-based finite-time control scheme is designed without requiring the information of time delay to achieve the master–slave synchronization in finite time. Considering the system uncertainties and external disturbances, the extended-state-observer (ESO) is applied. ESO is a nonmodel control approach and can estimate the lumped internal nonlinear dynamics and the external disturbances with arbitrarily high accuracy by choosing proper parameters. The stability and synchronization performance are proved by employing proper Lyapunov functions with the new controllers. Furthermore, the reaching time and the sliding time can be computed exactly only with system parameters and controller parameters. Finally, the experiments are conducted. Comparison with P+d control is presented to show the superior performance of the NFTSM+ESO control strategy on Phantom Premium 1.5HF robots (SensAble Technologies, Inc.).
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