A Backstepping Finite Time Control Scheme for Bilateral Teleoperation with Phase Transition

This paper propose a novel backstepping finite-time control scheme for a bilateral teleoperation system with phase transition between constrained and free motion as well as considering model uncertainties, time-varying delays and external disturbances. A command feedback filter is used to estimate the delayed signals’ high-order differentiation to improve the stability of backstepping control in passive inputs situations. A backstepping controller with finite-time strategy is proposed to ensure the bilateral force tracking and position tracking performance, where radial basis function (RBF) is used to deal with the uncertainties and the external disturbances, and hyperbolic tangent function is introduced to deal with the estimation error. Finally, several numerical simulations demonstrate the effectiveness of the proposed backstepping finite-time controller compared with the existing contributions.