Fixed-Time Fast-Exponential Super-Twisting Sliding Mode Control for Teleoperation Systems with Input Saturation

This paper discusses the trajectory tracking problem for a nonlinear bilateral teleoperation system (NBTS) without angular velocity measurements in the presence of input saturation, model uncertainty, external disturbance and communication time-varying delay. An anti-saturation auxiliary system is designed to deal with the input saturation. A novel fixed-time fast-exponential super-twisting sliding mode controller (SMC) is proposed to guarantees fast convergence of the trajectory tracking errors. Furthermore, based on the Lyapunov stability theory, the strict proof of the fixed-time reachability of the sliding mode surface (SMS) and the fast exponential convergence of trajectory tracking errors are established. Finally, several numerical simulations are carried out to compare with the existing contributions and demonstrate the validity of the proposed control scheme.