Finite-time output-feedback control for teleoperation systems subject to mismatched term and state constraints

Abstract In this paper, an adaptive output-feedback control strategy is presented for a class of teleoperation systems with system uncertainties, external disturbances, and state constraints. An exponential-type Barrier Lyapunov Function (EBLF) based velocity reconstruction scheme is firstly developed, ensuring that the observation errors converge within finite time while never exceeding the prescribed range. Then, a novel constrained sliding mode controller is presented in the framework of output-feedback control. We show that, under the developed control scheme, the chattering-free finite-time convergence of the synchronization errors can be guaranteed, and the constraint requirement on full states is satisfied. During the sliding motion, the system behaves as a desirable full-order dynamics rather than a conventional reduced-order dynamics. Simulation results further validate the effectiveness of the proposed method.

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