Finite-Time Teleoperation of Euler-Lagrange Systems via Energy-Shaping

TL;DR

This paper introduces finite-time controllers for Euler-Lagrange systems in teleoperation, ensuring rapid convergence of position and velocity errors using energy-shaping and damping-injection methods, validated through simulations and experiments.

Contribution

It presents a novel finite-time control approach for fully actuated Euler-Lagrange teleoperation systems based on energy-shaping, with simple continuous controllers and proven finite-time convergence.

Findings

Controllers achieve global convergence in finite time

Validated through simulations and experiments

Controllers are simple and continuous-time

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.