Finite-Time Control Method for Uncertain Teleoperation Systems with Time-Varying Delays and Disturbance

In this paper, a non-singular terminal sliding surface method which includes arctan function (ANTSM) and mixed-type errors is proposed for the serious effects of internal uncertainties and unknown additional disturbance on the stability as well as the control performance of teleoperation systems. The suggested sliding surface’s finite temporal stability is ensured through stability analysis. In addition, the compensation bound for online estimation is proposed to cope with the performance degradation caused by time-varying delays introduced by communication channel. To improve the transparency of the master, force prediction is combined with RBF neural-network (RBFNN) to reconstruct the environmental force with unknown impedance structure, avoiding the direct transmission of force signals. Finally, dual three degrees of freedom (3 DOFs) manipulators based on geomagic touch models are used to verify the validity of designed controllers.