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.

翻译：本文针对全驱动非线性欧拉-拉格朗日系统的双边遥操作问题，提出了一类有限时间控制器。基于能量整形框架，并在人机交互与环境交互满足被动性标准假设的前提下，所提控制器能确保在无时延情况下位置误差与速度全局收敛至零。此时闭环系统具有负次齐次逼近特性，从而可在有限时间内实现控制目标。所提出的控制器为结构简洁的连续时间比例-阻尼注入方案，已通过仿真与实验结果验证其有效性。