Finite-time control of dual-user haptic system with online authority transfer

Area of Science:

• Robotics and Control Systems
• Human-Computer Interaction
• Mechatronics

Background:

• Dual-user haptic systems (DUHS) are complex, requiring effective control strategies for collaborative tasks.
• Managing task authority transfer between users in real-time is crucial for efficient training and operation.
• Existing methods may lack smooth transitions or finite-time convergence guarantees.

Purpose of the Study:

• To propose a novel finite-time control method for DUHS with online authority transfer.
• To enable seamless switching of task dominance between a trainer and a trainee.
• To ensure finite-time convergence of position tracking errors for improved system performance.

Main Methods:

• Development of an authority transfer strategy based on task performance error.
• Design of a dominance factor for smooth online mode switching.
• Implementation of a nonsingular terminal sliding-mode control using position tracking error.

Main Results:

• The proposed method facilitates smooth, online transfer of task authority between users.
• Stability and position tracking performance of the DUHS are verified using Lyapunov theory.
• The system demonstrates finite-time convergence of position tracking errors.

Conclusions:

• The finite-time control method effectively manages online authority transfer in DUHS.
• The approach ensures both smooth user transitions and rapid error convergence.
• This enhances the usability and performance of haptic systems in training scenarios.