A Novel Control Design of Bilateral Teleoperation System with Fuzzy Logic based General Environments

In this paper, a novel adaptive robust sliding mode control(ARSMC) design is proposed for bilateral teleoperation system to achieve simultaneous stability and good transparency performance under communication delays, nonlinearities and uncertainties. For the environment force, the fuzzy logic system is used to model the environments with the general form, and the non-power environment parameters are identified and transmitted to the master side for the environment force estimation, which avoid the stability problem in the traditional teleoperation system. For both master and slave subsystems, the reference trajectory generators are designed, and the ARSMC approach is employed after-wards to design the controllers in view of nonlinearities and uncertainties. Therefore, the global stability of the bilateral teleoperation system under communication delays is theoretically guaranteed, while the good transparency performance with both position tracking and force feedback is achieved. The simulation is carried out, and the results verifies the effectiveness of the proposed ARSMC design.