Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 1

teleoperation system Related Abstracts

1 Sliding Mode Control of Bilateral Teleoperation System with Time Delay

Authors: Mohammad Azadi, Ahmad Forouzantabar


This paper presents sliding mode controller for bilateral teleoperation systems with robotic master and slave under constant communication delays. We extend the passivity-based coordination architecture to enhance position and force tracking in the presence of offset in initial conditions, environmental contacts and unknown parameters such as friction coefficient. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of master and slave robots and improve both position and force tracking. Using the Lyapunov theory, the boundedness of master- slave tracking errors and the stability of the teleoperation system are also guaranteed. Numerical simulations show that proposed controller position and force tracking performances are superior to that of conventional coordination controller tracking performances.

Keywords: Time Delay, lyapunov stability, sliding mode controller, teleoperation system

Procedia PDF Downloads 207