Adaptive Higher order finite-time sliding mode control for master-slave manipulator with fixed-time delays

In this paper, an adaptive second order nonsingular fast terminal sliding mode control is proposed for the tracking problem of a teleoperation system. A robust control law is developed to achieve high precision tracking and strong robustness against parametric uncertainties, external disturbances, and time-varying delay. Meanwhile, through involving the discontinuous function into the time derivative of the control input, the proposed control scheme eliminates the chattering phenomenon and reduces the amplitude of the control effort. Furthermore, an adaptive tuning law is derived to avoid the prior knowledge of the upper bound of the compound disturbances, which is more efficient for practical applications. The stability of the system is proved using the Lyapunov theory.