Original scientific paper

https://doi.org/10.7305/automatika.2017.02.1399

Observer-based Integral Sliding Mode Approach for Bilateral Teleoperation with Unknown Time Delay

Nicolas Gonzalez ; Department of Electrical Engineering, Faculty of Mechanical and Electrical Engineering, Universidad Autónoma de Nuevo León, San Nicolás de Los Garza, 66451, Mexico
Oscar Salas-Peña orcid.org/0000-0003-3545-9455 ; Department of Mechatronics Engineering, Faculty of Mechanical and Electrical Engineering, Universidad Autónoma de Nuevo León, San Nicolás de Los Garza, 66451, Mexico
Jesus DeLeon-Morales ; Department of Electrical Engineering, Faculty of Mechanical and Electrical Engineering, Universidad Autónoma de Nuevo León, San Nicolás de Los Garza, 66451, Mexico
Sergio Rosales ; Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies, Saltillo, 25900, Mexico
Vicente Parra-Vega orcid.org/0000-0002-1813-0394 ; Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies, Saltillo, 25900, Mexico

Abstract

This paper deals with force-reflecting control design for teleoperation of bilateral robots under unknown constant time delay. The proposed impedance teleoperator control is based on integral sliding mode approaches, avoiding undesirable chattering effect. With the aim of implementing the proposed controller and taking into account that only position measurement is available, a Nonlinear Observer based on Super Twisting Algorithm is proposed to estimate velocity and acceleration in the slave side of the teleoperation system. Furthermore, owing to the finite-time convergence properties of the observer, the proposed control scheme guarantees robust tracking under unknown constant time delay. Experimental results illustrate the effectiveness of the proposed scheme.

Keywords

Teleoperation; Sliding Mode Control; Observers

Hrčak ID:

180710

URI

https://hrcak.srce.hr/180710

Publication date:

23.3.2017.

Article data in other languages: croatian

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