Delay compensation in bilateral control using a sliding mode observer

作者：Leblebici Tugba^*; Calli Berk; Unel Mustafa; Sabanovic Asif; Bogosyan Seta; Gokasan Metin

来源：Turkish Journal of Electrical Engineering and Computer Sciences, 2011, 19(6): 851-859.

DOI：10.3906/elk-1007-625

• Bilateral control
• teleoperation
• sliding mode observer
• disturbance observer
• time delay

In bilateral control applications, time delays in the communication channel have destabilizing effects and cause degradations in the performance of the system. In this paper, a sliding mode observer is used in conjunction with a disturbance observer to predict states of the slave system. Predicted states are then used in control formulation. Simulation and experimental results show that the proposed method avoids instability due to time delays in bilateral operation and provides satisfactory performance.

• 出版日期2011