Fast Finite-Time Dynamic Surface Synchronization Control for Telerobotics System with Prescribed Performance

This study focuses on the fast finite-time synchronization control problem for nonlinear telerobotics system with asymmetric time-vary delays and uncertainties. A finite-time prescribed performance function is incorporated into the backstepping control framework such that the synchronization error will remain within a predefined funnel boundary. To increase the rate of convergence, the selected error transformation function is a arctangent function. The utilization of dynamic surface control method aims to decrease computational complexity by mitigating the need for repetitive differentiation of virtual signals in the conventional backstepping algorithm. In the meantime, the non-power approximate signals of fuzzy neural network algorithms are utilized to replace the system uncertainties, effectively addressing the passivity issue associated with time-delayed channels. Both theoretical analysis and experimental results are present to verify that the synchronization error can converge to a small neighborhood around zero in the fast finite time and the closed-loop system remains stable.