Robust Control of Cyber-Physical Teleoperation Systems for Synchronized Healthcare Supply Chain Management

This paper presents a delay-dependent sliding mode control (SMC) framework for synchronization in a three-degree-of-freedom cyber-physical master–slave teleoperation system, with emphasis on healthcare supply chain management. Communication delays pose a critical challenge, often leading to instability, desynchronization, and inaccurate inventory records. Such discrepancies compromise patient safety and hinder reliable forecasting of high-value medical supplies. The proposed approach integrates a decentralized synchronization scheme with a delay-dependent SMC method to ensure robustness against uncertainties and network-induced disruptions. System constraints, including variable communication delays up to 0.4 s and measurement errors of 20%, are explicitly addressed. A graph-theoretic coupling structure is employed to mitigate these challenges and improve multi-agent coordination. Simulation results demonstrate a 15–20% reduction in synchronization error relative to baseline controllers, while eliminating mismatches between physical supply usage and digital inventory records. The findings confirm the controller’s practical utility in enhancing both clinical precision and healthcare supply chain efficiency.