Adaptive Finite-Time Control of Teleoperation Mobile Robot with External Disturbance and Uncertainty

摘要

This paper investigates a finite-time control method that uses an adaptive fast nonsingular terminal sliding mode. The designed controller improves the trajectory tracking performance and the accuracy of the force reflecting for the teleoperation mobile robots with unknown environment. Based on the proposed control method, the finite-time tracking problem of the teleoperation mobile robot is divided into two layers, which are the finite-time trajectory tracking problem for the mobile platform and the manipulator mounted on the mobile platform, for analyzing. Furthermore, the stability of the teleoperation mobile robot system is guaranteed according to the Lyapunove function theory and terminal sliding mode control. Finally, the effectiveness of proposed algorithm was verified by several simulations.