Adaptive time-varying formation control for teleoperation system: A finite-time approach

In this article, the finite-time formation control scheme is put forward for teleoperation system with time delay. First, a group of finite-time observers are established to address the teleoperation system with time-varying delay issue and via linearly parameterize to deal with the uncertainty in the system. The theory of self-stable domain (SSR) is then applied to provide sufficient circumstances for the observers error dynamics to converge in finite-time. Then, in line with the estimation of time delay derivatives to reconstruct the regression matrix as well as the adaptive law, the observer based time-varying formation control protocol is drawn up. On the basis of finite-time state-independent input-to-output practical stable (FTSIIOpS) theorem, sufficient conditions for teleoperation implement time-varying formation are developed. Finally, simulation is being used to validate the efficiency of the proposed strategy.