Fuzzy Impedance and Sliding Mode Bilateral Control in Underwater Ratio Teleoperation Based on Observer

This paper presents a bilateral control method of teleoperation for the underwater's complex and dangerous environment. The fuzzy adaptive impedance control is applied to the master robot, the integral sliding mode control is applied to the slave robot. The master and slave robot state observers are designed for the unknown interference. The ratio tracking in force and position from the master robot to the slave robot is applied in order to ensure the accuracy and flexibility of operation. The absolute stability criteria is employed for the analysis of the stability condition in bilateral control. The single freedom simulink is achieved in Matlab Simulink. It is shown that: the robustness of the master robot and the feeling from the environment is improved, the external interference is overcomed and the chattering in sliding mode control is eliminated, the flexibility of grasping is achieved by the ratio teleoperation, the whole system has a good feasibility and stability.