Sliding Mode Control of Bilateral Teleoperation System with Time Delay

Sliding Mode Control of Bilateral Teleoperation System with Time Delay

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Part of #Sliding Mode Control of Bilateral Teleoperation System with Time Delay# :

Publishing year : 2016

Conference : 7th International Conference on Economics and Management

Number of pages : 8

Abstract: This paper presents a sliding mode controller for two-way teleoperationsystems with robotic master and slave under constant communicationdelays. We extend the passivity-based coordination architecture to a position and force tracking in the presence of offset in initialconditions, environmental contacts and unknown parameters such as friction coefficient. To address these difficulties, a nonlinear sliding controller is designed to approximate the nonlinear dynamics of the master and slave robots and to improve both position and force tracking. Using the Lyapunov theory, there is also guaranteed mastering slave trackingerrors and the teleoperational system stability. Numerical simulations show that proposed controller position and forcetracking performances are superior to those of conventionalcoordination controller tracking performances.