Estimation force of master-slave for the end effector of hydraulic servo system using SMCSPO

In this research a bilateral control method is proposed to find the estimation force of master-slave at the end effector of hydraulic servo system using sliding mode control with sliding perturbation observer (SMCSPO). The sliding perturbation observer (SPO) estimates the reaction force at the end effector of master and slave without using any sensor. Sliding mode control (SMC) is used as bilateral controller for the robust position tracking and control of slave device. A bilateral control strategy in hydraulic servo system provides robust position and force tracking between master and slave. This research experimentally verifies that the slave device can follow the trajectory of the master device using the proposed bilateral control strategy and reaction force estimation method.