Fuzzy sliding mode control design for bilateral teleoperation system

A fuzzy sliding-mode teleoperation controller for master-slave robotic systems (MSRSs) is presented in this paper. To deal with the problem of the unknown but bounded uncertainties with MSRS, the adaptive laws is designed into the control process. Moreover, the master-slave system under time delay is considered in this paper. Two simulations are given to validate the effectiveness of the provided controller.