Terminal sliding mode impedance control for bilateral teleoperation under unknown constant time delay and uncertainties

Finite time control of a teleoperation system under unknown constant time delay and parametric uncertainties is considered using terminal sliding mode and impedance control. Terminal sliding mode controller is a finite time control scheme that provides finite time convergence to the equilibrium point as well as fast response and high tracking precision in comparison with conventional sliding mode controllers, which are widely used for control of teleoperators. The proposed control scheme for bilateral teleoperation under unknown constant time delay is a sliding mode-impedance control for master robot and a terminal sliding mode control for slave robot. These two control laws can provide perfect tracking and transparency that are main goals in bilateral teleoperations. Simulation results verify the effectiveness of the proposed scheme for bilateral teleoperation under time delay.