Abstract
A finite-time control method with online authority transfer is proposed for a class of dual-user haptic system (DUHS) with training tasks. An authority transfer strategy based on the error system reflecting task performance is designed to adjust the dominance factor so that the system can realize smooth online switching between different modes. Next, the desired position is defined according to the dominance factor, and then the sliding mode surface is constructed by the position tracking error to design a nonsingular terminal sliding-mode control. The stability and position tracking performance of DUHS are analyzed by Lyapunov theory, and the effectiveness of the proposed method is verified. The proposed method not only enables smooth online switching of task authority between the trainer and the trainee but also ensures that the position tracking error of the system converges in a finite time.
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