By Topic

Observer-based Higher-Order Sliding Mode Impedance Control of Bilateral Teleoperation under Constant Unknown Time Delay

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Garcia-Valdovinos, L.G. ; Dept. de Ingenieria Electr., CINVESTAV-IPN, Mexico City ; Parra-Vega, V. ; Arteaga, M.A.

Sliding mode control has been used extensively in robotics to cope with parametric uncertainty and hard nonlinearities, in particular for time-delay teleoperators, which have gained gradual acceptance due to technological advancements. However, since the slave teleoperator is in contact to a rigid environment, the slave controller requires a free of chattering control strategy, thus making first order sliding mode teleoperation control unsuitable. As an alternative, chattering free, higher-order sliding mode teleoperator control is proposed in this paper to guarantee robust tracking under unknown constant time delay. Moreover, complete order observers are proposed to avoid measurement of velocity and acceleration, along with a formal closed-loop stability proof of the observer-based controller. Experimental results are presented and discussed, which reveals the effectiveness of the proposed teleoperation scheme

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

Oct. 2006