Robust Finite-Time Chattering Free Sliding Mode Adaptive Impedance controller in Remote Control System in Presence of Random Delay

Remote control of robots is one of the most relevant and practical fields in robotics. Most of the control structures of remote operation systems seek to achieve transparency and stability at the same time, which the simultaneous achievement of the both, considering the uncertainty and disturbances in the system and random delay in the communication channel is very challenging. So far, many researchers have used position, speed, force or impedance information to provide various control methods, but none of these methods have achieved complete transparency and robust stability in the presence of random delay and uncertainties and disturbances and compromises between them should be made. In this paper, using a new method, a control structure including sliding mode control, adaptive control and impedance control is presented. This method has been simulated by Simulink of MATLAB software and it has been shown that this method is able to establish ideal transparency and ensure robust stability in the system with disturbances and uncertainties in the presence of random delay in the network.