Nonlinear Dynamics

, Volume 85, Issue 1, pp 317–331 | Cite as

Extended-state-observer-based finite-time synchronization control design of teleoperation with experimental validation

  • Changchun Hua
  • Jing Li
  • Yana Yang
  • Xinping Guan
Original Paper


Finite-time synchronization control means that system synchronization performance is achieved in finite time. Compared with the general control schemes, finite-time control can guarantee faster convergence rate and higher convergence precision. This paper investigates the finite-time synchronization control problem of networked teleoperation system with time delay. A nonsingular fast terminal sliding mode (NFTSM)-based finite-time control scheme is designed without requiring the information of time delay to achieve the master–slave synchronization in finite time. Considering the system uncertainties and external disturbances, the extended-state-observer (ESO) is applied. ESO is a nonmodel control approach and can estimate the lumped internal nonlinear dynamics and the external disturbances with arbitrarily high accuracy by choosing proper parameters. The stability and synchronization performance are proved by employing proper Lyapunov functions with the new controllers. Furthermore, the reaching time and the sliding time can be computed exactly only with system parameters and controller parameters. Finally, the experiments are conducted. Comparison with P+d control is presented to show the superior performance of the NFTSM+ESO control strategy on Phantom Premium 1.5HF robots (SensAble Technologies, Inc.).


Teleoperation Finite time Extended-state-observer Uncertainties Time delay 



This paper was supported in part by the Hundred Excellent Innovation Talents Support Program of Hebei Province, in part by the Doctoral Fund of Ministry of Education of China under Grant 20121333110008, in part by the Hebei Province Applied Basis Research Project under Grant 13961806D, in part by the Top Talents Project of Hebei Province, and in part by the National Natural Science Foundation of China under Grant 61290322, Grant 61273222, Grant 61322303, Grant 61473248 and Grant 61573301.


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Copyright information

© Springer Science+Business Media Dordrecht 2016

Authors and Affiliations

  • Changchun Hua
    • 1
  • Jing Li
    • 1
  • Yana Yang
    • 1
  • Xinping Guan
    • 2
  1. 1.Institute of Electrical EngineeringYanshan UniversityQinhuangdao CityChina
  2. 2.Shanghai Jiaotong UniversityShanghai CityChina

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