data of teleoperation under homogenous controller

A continuous finite-time control scheme is introduced for bilateral teleoperation systems with asymmetric timevarying delays. Specifically, a non-smooth controller with fractional power based on the homogeneous method is developed to guarantee that the trajectory tracking error between the master and the slave converges to zero in a finite period of time. The system is proven to be globally asymptotically stable and has a negative degree of homogeneity, which means that it is globally finite-time stable. Both simulation and experimental results show that the proposed controller ensures the teleoperation system with fast convergence, accurate tracking performance and global stability without sacrificing system transparency.