Adaptive finite-time control of master-slave manipulators with time-varying delay

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.