Integral sliding mode control of bilateral teleoperation with force estimation for n-DOF nonlinear manipulators

This paper proposes a modified integral sliding mode based bilateral teleoperation algorithm for n-DOF nonlinear manipulators. Second-order sliding mode observer is used to estimate the states of the system as well as unknown input forces from operator and environment acting on the master and slave manipulators, respectively. In a position-force architecture, the estimated states and unknown inputs are transmitted to the opposite side to be used in the control laws of the master and slave manipulators. In spite of conventional sliding mode controller that generates high-frequency oscillations in the control signal of slave manipulators, we used an integral sliding mode controller to facilitate the practical implementation.