Dr. SHEN HenghuaPan, Ya-JunYa-JunPanAhmad, UsmanUsmanAhmadLiu, StevenStevenLiuWu, MinMinWuHe, YanhaoYanhaoHe2026-09-112026-09-112019Shen, H., Pan, Y. J., Ahmad, U., Liu, S., & Wu, M. (2019). Tracking performance evaluations on the robust teleoperative control of multiple manipulators. In IEEE (Ed.). The proceedings of 2019 IEEE 28th international symposium on industrial electronics (ISIE). 2019 IEEE 28th International Symposium on Industrial Electronics (ISIE), Vancouver, BC, Canada (pp. 1268-1273). IEEE.9781728136660978172813665397817281366772163-51452163-5137http://hdl.handle.net/20.500.11861/29399In this paper, a robust non-singular terminal sliding mode (NTSM) method is proposed for a nonlinear single-master-multiple-slave (SMMS) manipulator system, including a bilateral teleoperative subsystem and a leader-following subsystem. The developed NTSM method aims at regulating the motion tracking synchronization considering the network delays, external disturbances, velocity-varying leader, and a weakly connected topology of the leader-following subsystem. In addition, the accuracy and efficiency of the tracking synchronization are evaluated by examining the effects of the control gain selection and assigned reference trajectory, which helps the operator to configure the control system under different conditions. Simulation results are provided to demonstrate the performance as well as the evaluation of the developed techniques.enTracking PerformanceControl SystemGain ControlExternal DisturbancesReference TrajectoryNetwork DelayNonlinear SystemsReachableVariable DefinitionsFinite TimeRobust ControlDelayed EffectsPosition ErrorReference SignalTracking ErrorJacobian MatrixFeedback SignalJoint SpaceSign FunctionConvergence TimeFinite-Time StabilityVelocity ErrorError BoundsEnd-EffectorPosition TrackingOperational SpaceControl InputPositive ConstantBoxplotsConference Paper10.1109/ISIE.2019.8781358