Regular Papers
International Journal of Control, Automation and Systems 2017; 15(5): 2118-2125
Published online September 6, 2017
https://doi.org/10.1007/s12555-016-0441-8
© The International Journal of Control, Automation, and Systems
Integral Sliding Mode Control of a Bilateral Teleoperation System based on Extended State Observers
A novel control scheme has been proposed to solve the synchronization control problem for a nonlinear bilateral teleoperation system with time delays in this paper. An extended state observer is introduced to deal with the lumped system uncertainties. Both fast convergence rate and high convergence precision are guaranteed via designing an integral sliding mode controller. Some general Lyapunov stability criteria are given for the nonlinear bilateral teleoperation system with time delays. Lastly, two Phantom Premium 1.5 HF robot manipulators are used in the experiments to demonstrate the effectiveness of the developed techniques in this paper."
Keywords Extended state observer, integral sliding mode control, lumped system uncertainties, teleoperation system.
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Regular Papers
International Journal of Control, Automation and Systems 2017; 15(5): 2118-2125
Published online October 1, 2017 https://doi.org/10.1007/s12555-016-0441-8
Copyright © The International Journal of Control, Automation, and Systems.
Integral Sliding Mode Control of a Bilateral Teleoperation System based on Extended State Observers
Ling Zhao*, Hao Zhang, Yana Yang, and Hongjiu Yang
Yanshan University
Abstract
A novel control scheme has been proposed to solve the synchronization control problem for a nonlinear bilateral teleoperation system with time delays in this paper. An extended state observer is introduced to deal with the lumped system uncertainties. Both fast convergence rate and high convergence precision are guaranteed via designing an integral sliding mode controller. Some general Lyapunov stability criteria are given for the nonlinear bilateral teleoperation system with time delays. Lastly, two Phantom Premium 1.5 HF robot manipulators are used in the experiments to demonstrate the effectiveness of the developed techniques in this paper."
Keywords: Extended state observer, integral sliding mode control, lumped system uncertainties, teleoperation system.
Vol. 22, No. 9, pp. 2673~2953
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