提出一种有限时间控制方法，实现非线性机械系统的精确远程操作。
Finite-Time Teleoperation of Euler-Lagrange Systems via Energy-Shaping
- 基于能量整形框架设计连续比例-阻尼注入控制器
- 无时延时位置误差与速度全局有限时间收敛至零
- 适合需要快速高精度控制的机器人遥操作场景
本文提出一类针对全驱动非线性欧拉-拉格朗日系统的双边遥操作有限时间控制器。基于能量整形框架，在人与环境交互为被动的典型假设下，控制器确保在无时延情况下位置误差和速度全局收敛至零。此时闭环系统具有负阶齐次近似，因而控制目标可在有限时间内达成。所提控制器为简单连续的比例-阻尼注入形式，并通过仿真与实验结果验证。
原文摘要 · Abstract (English)
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.
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