<p> Research Title: Finite time control design for telerobotics with asymmetric time-varying delays (e-mail: [email protected]) Supervisor: Prof. Hongnian Yu, Bournemouth University. Yana Yang was born in March of 1988. She received the B.S. degree in Automation of Yanshan University of China, in 2011. Now she is a PhD Student in Control Science and Engineering of Yanshan University. Abstract: In the last five decades, teleoperation technologies have been widely developed and applied all around the world. There are a number of control approaches for teleoperation with time-varying delays. However, in existing works, only the asymptotic stability was achieved. It is well known that compared with the asymptotic/exponential stability finite time stability may give rise to fast transient, high precision and better disturbance rejection properties besides finite time convergence to the equilibrium. The problem of finite-time synchronization control for uncertain bilateral teleoperation system with asymmetric time-varying delays will be addressed. The control objective is to steer the synchronization errors and the parameter estimation errors converge to zero in finite time. New nonsingular finite time control algorithms are designed by employing the adding power integrator methods for master and the slave with the new system model, respectively. A new adaptive parameter tuning law is developed by making good use of the system synchronization errors and the adaptive parameter estimation errors. The finite time synchronization is proved by applying the Lyapunov function and multi-dimensional small- gain theorem.</p><p>Keywords: Teleoperation, finite time control, small-gain theorem, time-varying delays.</p><p>Publications related to the subject: Yana Yang, Changchun Hua and Xinping Guan, “Adaptive fuzzy finite-time coordination control for networked nonlinear bilateral teleoperation system,” IEEE Trans. on Fuzzy Systems, vol. 22, no. 3, pp. 631-641, 2014. Yana Yang, C. Hua and X. Guan, “Finite-time synchronization control for bilateral teleoperation under communication delays,” Robotics and Computer-Integrated Manufacturing, vol. 31, pp. 61-69, 2015.</p>