The communication time delay and uncertain models of robotic manipulators are the major problem in teleoperation system, which can reduce performance stability system. This article proposed a novel finite-time adaptive control scheme for position force tracking performances First, combined auxiliary error system with errors is designed. Second, velocity feedback filter introduced, new variable ...

By introducing sliding mode predictive control (SMPC) techniques, a controller with passivity of a class of discrete-time uncertain singular systems is proposed in this paper. A new switching surface function is designed by taking the singular matrix into account, thus the resulting sliding mode dynamics is a full-order uncertain singular time-varying delay system. Due to feedback correction an...