Abstract
In this paper, a robust controller for the bilateral teleoperation of a master-slave manipulator system is proposed. The controller is designed based on the sliding mode control method with an adaptively tuned gain to tackle the unknown uncertainty bounds of the system. A sliding surface, having a proportional integral derivative type structure, is proposed which is designed as a function of the tracking error between the master and the slave trajectory. The controller design constraints and parameter selection criteria are derived based on the analysis of the closed-loop system. The proposed method is validated using simulation performed for a master-slave system with each arm having two degrees of freedom (DoF) and a constant communication delay for position tracking of the system. The simulation shows that the controller can handle delay of up to 2.5 s while giving satisfactory tracking performance.
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