Abstract
In hazardous/emergency situations, public safety is of the utmost concern. In areas where human access is not possible or is restricted due to hazardous situations, a system or robot that can be distantly controlled is mandatory. There are many applications in which force cannot be applied directly while using physical sensors. Therefore, in this research, a robust controller for pursuing trajectory and force estimations while deprived of any signals or sensors for bilateral tele-operation of a hydraulic manipulator is suggested to handle these hazardous, emergency circumstances. A terminal sliding control with a sliding perturbation observer (TSMCSPO) is considered as the robust controller for a coupled leader and hydraulic follower system. The ultimate use of this controller is as a sliding perturbation observer (SPO) that can estimate the reaction force without any physical force sensors. Robust and perfect position tracking is attained with terminal sliding mode control (TSMC) in addition to control of the hydraulic follower manipulator. The force estimation and pursuing trajectory for the leader–follower system is built upon a bilateral tele-operation control approach. The difference between the reaction forces (caused by the remote environment) and the operating forces (applied by the human operator) required the involvement of an impedance model. The impedance model is implemented in the leader manipulator to provide human operators with an actual sense of the reaction force while the manipulator connects with the remote environment. A camera is used to ensure the safety of the workplace through visual feedback. The experimental results showed that the controller was robust at pursuing trajectory and force estimations for the bilateral tele-operation control of a hydraulic manipulator.
Highlights
IntroductionThe modern world requires an uninterrupted source of electrical energy for sustainable development; for this, nuclear power plants (NPP) are a promising energy resource option
The modern world requires an uninterrupted source of electrical energy for sustainable development; for this, nuclear power plants (NPP) are a promising energy resource option.The operational lifespan of nuclear power plants is around 40–65 years [1]
Based on the prior outcomes, we proposed a terminal sliding-mode control with a sliding perturbation observer (TSMCSPO) for pursuing trajectory and force estimations for the bilateral tele-operation of a hydraulic manipulator
Summary
The modern world requires an uninterrupted source of electrical energy for sustainable development; for this, nuclear power plants (NPP) are a promising energy resource option. The authors in [6,7,8] proposed bilateral tele-operation systems in different areas including environments simulated virtually, space exploration, and robotic assistance in (minimally) invasive surgery. To effectively detect the reaction forces in a bilateral tele-operation system, an observer based on a Kalman filter was proposed in [18]. Based on the prior outcomes, we proposed a terminal sliding-mode control with a sliding perturbation observer (TSMCSPO) for pursuing trajectory and force estimations for the bilateral tele-operation of a hydraulic manipulator. The strategic structure competently follows the trajectory and the estimate of the reaction forces of the leader–follower roboticarm in addition to bi-lateral tele-operation control of the leader/follower manipulator based on the hydraulic manipulator.
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