Global sliding mode control for teleportation systems with fixed-time delay

The work presented in this article focuses on a new bilateral and multilateral teleoperation framework that is proposed to perform tasks in a hazardous environment with an interconnection delay. First, a bilateral teleoperation system allows a master manipulator to remotely control a slave manipulator. A global sliding mode control GSMC on bilateral teleoperation system is used for this system based on the external disturbances. Despite the presence of the external force and fixed-time delay, the controller is robust and presents a finite-time convergence. Second, a multilateral teleoperation system allows a master manipulator to remotely control a manipulator that serves as the leader of a group of followers. A global sliding mode control on multilateral teleoperation is applied to master-slave-follower manipulators to avoid external disturbances and fixed-time delay. This controller also presents good performance. The two controllers are evaluated in simulation.