NTSM Based Adaptive Finite-Time Synchronization for Bilateral Teleoperators with Asymmetrical Delay and Disturbances

This paper presents a nonsingular terminal sliding mode (NTSM) based adaptive finite-time synchronization algorithm for bilateral teleoperators with the presence of asymmetrical time-varying delay and disturbances. The finite-time synchronization algorithms are designed by using Lyapunov and the nonlinear terminal sliding mode control method. Robust and adaptive learning algorithms for both master and slave manipulators are developed to learn and adapt to the bounded disturbances associated with modelling errors and other external disturbances. The convergence analysis shows that the master and slave tracking errors converge to zero in finite time. The proposed design provides faster and more robust finite-time convergence properties as opposed to the asymptotic/exponential convergence of the closed-loop bilateral teleoperators. The design does not need the exact bound of the disturbances that appear from external disturbances and the modelling errors of the master and slave subsystem manipulator dynamics.