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Adaptive Finite-Time Control of Master-Slave Manipulators with Time-Varying Delay

EasyChair Preprint 4782

6 pagesDate: December 25, 2020

Abstract

The work presented in this paper focuses on the finite-time control of the master-slave manipulators with time-varying delay. First, a nonsingular fast terminal sliding mode control (NFTSMC) is used for this system based on the knowledge of the upper bound of the uncertainties and disturbances. Despite of the presence of the uncertainties, disturbances, load variation and time-varying delay, the controller is robust and present a finite-time convergence. Second, an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) is applied to master-slave manipulators to avoid the knowledge of the upper bound of the uncertainties and disturbances. This controller presents good performance compared to the first one. The two controllers are evaluated in simulation.

Keyphrases: Master slave robot, Non-singular fast terminal sliding mode control, adaptive control, robust control, time-varying delay, uncertainties and disturbances

BibTeX entry
BibTeX does not have the right entry for preprints. This is a hack for producing the correct reference:
@booklet{EasyChair:4782,
  author    = {Asma Ounissi and Neila Mezghani Ben Romdhane},
  title     = {Adaptive Finite-Time Control of Master-Slave Manipulators with Time-Varying Delay},
  howpublished = {EasyChair Preprint 4782},
  year      = {EasyChair, 2020}}
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