Finite-time output-feedback synchronization control for bilateral teleoperation system via neural networks

The finite-time control problem is considered for bilateral teleoperation system via output feedback approach. A new observer is designed for the velocity estimation and the resulting velocity error system is proved to be semi-globally stable. The observer based output feedback finite-time controller is developed by employing a novel nonsingular fast integral terminal sliding mode. The closed-loop system is proved to be stable based on Lyapunov stability theory. It is shown that the master-slave synchronization error converges to zero in finite time. The merit of the proposed method is that the designed controller only uses the position information which renders that the master-slave synchronization error reaches zero in the prescribed time. Simulation and experiment are performed and the results demonstrate the effectiveness of the proposed method.