Bilateral Cartesian sliding PID force/position control for tracking in finite time of master-slave systems

This article presents a novel, model-free, Cartesian sliding PID control scheme based on well-posed terminal attractors to achieve finite time tracking in a time that the user can define. Also, the teleoperation scheme has been designed such that high transparency can be obtained by taking advantage of a condition that establishes that it is equivalent to get transparency in dynamically similar teleoperation systems if the same proposed controller is implemented at the master and at the slave sites. In this manner, finite time tracking convergence, a faster response than exponential convergence, of position and velocity tracking errors, and an acceptable force tracking are attained, without acceleration measurements, nor any knowledge of the master/slave robot dynamics, nor estimating the impedance of human and environment. Moreover, computation of inverse kinematics and/or Cartesian robot dynamics are not necessary. Simulation results validate the proposed teleoperation scheme