Control of Time Delay Force Feedback Teleoperation System With Finite Time Convergence

Area of Science:

• Robotics
• Control Systems Engineering
• Artificial Intelligence

Background:

• Teleoperation systems require precise control to minimize tracking errors for practical applications.
• Existing control methods often struggle with balancing stability and convergence speed in time-delayed systems.

Purpose of the Study:

• To develop an effective control strategy for teleoperation systems to reduce tracking error convergence time.
• To enhance the stability and performance of combined teleoperation systems.

Main Methods:

• A bilateral continuous finite time adaptive terminal sliding mode control method was designed.
• This method combines terminal sliding mode control with neural network adaptive control.
• System stability was analyzed using Lyapunov theory.

Main Results:

• The proposed control scheme ensures effective and timely convergence of position tracking errors.
• Numerical simulations in MATLAB Simulink validated the enhanced system performance.
• The new method demonstrated superior performance compared to traditional two-sided control methods (TPDC).

Conclusions:

• The developed adaptive terminal sliding mode control method offers improved stability and reduced steady-state errors.
• This approach enhances tracking performance in time-delayed teleoperation systems.
• The findings contribute to making teleoperation systems more practical and reliable.