Global terminal sliding‐mode control for the synchronization problem of uncertain bilateral teleoperation system with time‐varying delays
Asma Ounissi,
Mohamed Boukattaya,
Neila Mezghani Ben Romdhane
Abstract:In this paper, an adaptive global terminal sliding‐mode control is developed for a nonlinear bilateral teleoperation system with time‐varying delays, external disturbances, and uncertainties. By selecting a time‐varying sliding‐mode manifold, a finite‐time sliding‐mode control algorithm is proposed to guarantee the suppression of the reaching phase associated with the conventional sliding‐mode control. This implies that the robustness is guaranteed throughout to entire response of the system. Meanwhile, the ch… Show more
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