4-Channel Sliding Mode Control of Teleoperation Systems with Disturbances

被引：3
|
作者：
Liu, Xia [1 ,2 ]
Dong, Xiucheng [1 ]
机构：
[1] Xihua Univ, Sch Elect & Informat Engn, Chengdu 610039, Sichuan, Peoples R China
[2] Univ Adelaide, Sch Mech Engn, Adelaide, SA 5005, Australia
来源：
ASIAN JOURNAL OF CONTROL | 2015年 / 17卷 / 04期
基金：
中国国家自然科学基金;
关键词：
4-channel; disturbances; sliding mode control; transparency; nonlinear eleoperation systems; BILATERAL TELEOPERATION; TRANSPARENCY; STABILITY;
D O I：
10.1002/asjc.989
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Sliding mode control can effectively account for the disturbances of a system. Among the different teleoperation architectures, 4-channel architecture is the most successful for fulfilling transparency. In this paper, two sliding mode controllers are designed for nonlinear master and slave with external disturbances and are incorporated into a 4-channel structure to achieve transparency. To this end, each of the controllers consists of a sliding mode position feedback law, a force feedback law, and two supplementary terms regarding gravity and contact force compensation. Stability and transparency of the overall system is studied via a Lyapunov function analysis. Simulations compared with the conventional adaptive control on teleoperation systems demonstrate the effectiveness of the proposed scheme.
引用
收藏
页码：1267 / 1273
页数：7
相关论文
共 50 条
  • [1] Nonlinear Bilateral Control of 4-Channel Teleoperation Systems Using Adaptive Force Estimator
    Dehghan, Seyed Ali Mohamad
    Koofigar, Hamid Reza
    Ekramian, Mohsen
    [J]. 2016 20TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC), 2016, : 102 - 106
  • [2] Stability Analysis of Delayed 4-Channel Bilateral Teleoperation Systems
    Miandashti, Noushin
    Tavakoli, Mahdi
    [J]. 2013 WORLD HAPTICS CONFERENCE (WHC), 2013, : 701 - 706
  • [3] Bilateral continuous terminal sliding mode control for teleoperation systems with high-order disturbances
    Zhenhua Zhao
    Ting Li
    Dong Cao
    Jun Yang
    [J]. Nonlinear Dynamics, 2023, 111 : 5345 - 5358
  • [4] Bilateral continuous terminal sliding mode control for teleoperation systems with high-order disturbances
    Zhao, Zhenhua
    Li, Ting
    Cao, Dong
    Yang, Jun
    [J]. NONLINEAR DYNAMICS, 2023, 111 (06) : 5345 - 5358
  • [5] Sliding Mode Control for Scaled Bilateral Teleoperation
    Hace, Ales
    Franc, Marko
    Jezernik, Karel
    [J]. IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2011,
  • [6] Sliding Mode Control with Noninvariance to Disturbances in Systems with Nonlinear Objects
    Degtyarev G.I.
    Meshchanov A.S.
    [J]. Russian Aeronautics, 2020, 63 (02): : 230 - 240
  • [7] Sliding Mode Control for Linear Impulsive Systems With Matched Disturbances
    Li, Xiaodi
    Zhao, Yongshun
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2022, 67 (11) : 6203 - 6210
  • [8] RANDOM DISTURBANCES OF THE OPERATION OF CONTROL-SYSTEMS IN THE SLIDING MODE
    ANULOVA, SV
    [J]. AUTOMATION AND REMOTE CONTROL, 1986, 47 (04) : 474 - 479
  • [9] Sliding mode control of quantized systems against bounded disturbances
    Liu, Ming
    Cao, Xibin
    Zhang, Shijie
    Yang, Wei
    [J]. INFORMATION SCIENCES, 2014, 274 : 261 - 272
  • [10] Sliding mode control of bilateral teleoperation systems with force-reflection on the Internet
    Park, JH
    Cho, HC
    [J]. 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 2000, : 1187 - 1192
12345