Sliding mode control of bilateral teleoperation system with time delay

This paper presents sliding mode controller for bilateral teleoperation systems with constant communication delay and robotic master-slave. We develop the passivity-based coordination framework to enhance position as well as force tracking in the presence of different initial conditions, environmental forces and unknown parameters like friction coefficient. To remedy these difficulties, a nonlinear sliding mode controller is proposed to approximate the nonlinearity in master and slave robots dynamics and enhance both position and force tracking. The boundedness of master- slave tracking errors and the stability of the teleoperation system are proved by Lyapunov theory. Numerical simulations show that proposed controller position and force tracking performances are superior to conventional coordination controller tracking performances.