Adaptive Nonsingular Fast Terminal Sliding Mode Control for Multilateral Teleoperation Systems with Varying Time Delay

This paper deals with the development of control law to achieve the consensus tracking on a multilateral teleoperation system (MTS) that is proposed is to achieve a complex goal which is hard to achieve by a single manipulator with communication time delay. In MTS, each robot shares its information to the other robots to complete the task. In order to ensure rapid convergence, prevent singularities, and bolster resilience against uncertainties and external disturbances (ED), a novel approach is employed in the multilateral teleoperation system. This technique, referred to as Adaptive Non-Singular Fast Terminal Sliding Mode Control (ANFTSMC), is implemented on master-slave-followers manipulators confronting challenges such as unidentified upper limits on system uncertainty (SU), varying-time delay (VTD), and external disturbances. The controller exhibits a finite-time convergence and is robust in the presence of the external force and (VTD). The Lyapunov stability theory is employed for stability analysis, and simulation investigations are carried out to confirm the efficacy of the control strategy that have been developed.