Adaptive Sliding Mode Control for Random Teleoperation System with Time-Varying Delay

This paper focuses on the control problem of a class of random teleoperation systems. To overcome the difficulties caused by the random environment, a new adaptive sliding mode control method for random teleoperation system is proposed. Compared with the previous work, the model in this paper is built by random differential equations. In addition, different time-varying delays are introduced between the two communication channels. Furthermore, a new design scheme for random teleoperation system with varying-time delay is proposed. Radial Basis Function neural network (RBFNN) is introduced to deal with the unknown nonlinearities of the system. Using this method, good position tracking performance and stability can be obtained.