Finite-Time Adaptive Fuzzy Prescribed Performance Control for Teleoperation With Asymmetric Time Delays and Uncertainties

This paper proposes a finite-time adaptive fuzzy prescribed performance controller to address the position synchronization problem of teleoperation system under asymmetric time delays and uncertainties. The controller comprises a finite-time performance function (FTPF), a fuzzy logic system (FLS), and a weight adaptive control law. Specifically, the transformed synchronization errors are constrained within the boundaries of the FTPF, thereby enhancing the transient performance of the teleoperation system. Subsequently, with the aid of the weight adaptive law, online compensation for uncertain dynamic parameters is achieved by the FLS. By employing a Lyapunov function and finite-time stability criteria, it can be demonstrated that in a finite time frame, errors converge to a small neighborhood around zero while maintaining stability in the closed-loop system. Simulation and practical experiments are conducted to validate the efficacy of this proposed control algorithm.