Sliding Mode Control of Bilateral Teleoperation System with Time Delay

This paper presents sliding mode controller for bilateral teleoperationsystems with robotic master and slave under constant communicationdelays. We extend the passivity based coordination architecture toenhance position and force tracking in the presence of offset in initialconditions, environmental contacts and unknown parameters such asfriction coefficient. To address these difficulties, a nonlinear slidingmode controller is designed to approximate the nonlinear dynamics ofmaster and slave robots and improve both position and force tracking.Using the Lyapunov theory the boundedness of master- slave trackingerrors and the stability of the teleoperation system are also guaranteed.Numerical simulations show that proposed controller position and forcetracking performances is superior than that of conventionalcoordination controller tracking performances.

کلیدواژه ها:

Lyapunov stability ، Teleoperation system ، Time delay ، Sliding mode Controller