Cart (Loading....) | Create Account
Close category search window
 

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.

The purchase and pricing options are temporarily unavailable. Please try again later.
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

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.