Paper Info
Title
Discrete Sliding Mode Control Design for Bilateral Teleoperation System via Adaptive Extended State Observer.
Abstract
The goal of this paper is to improve the synchronization control performance of nonlinear teleoperation systems with system uncertainties in the presence of time delays. In view of the nonlinear discrete states of the teleoperation system in packet-switched communication networks, a new discrete sliding mode control (DSMC) strategy is performed via a new reaching law in task space. The new reaching law is designed to reduce the chattering and improve control performance. Moreover, an adaptive extended state observer (AESO) is used to estimate the total system disturbances. The additional gain of AESO is adjusted in time to decrease the estimation errors of both system states and disturbances automatically and improve the estimation performances of the AESO. Finally, the validity of the designed control strategy is demonstrated by both simulation and experiments. Furthermore, the experimental comparison results indicate that the improvement is achievable with the proposed AESO and DSMC.
Year
DOI
Venue
2020
10.3390/s20185091
SENSORS
Keywords
DocType
Volume
teleoperation system,discrete sliding mode,adaptive extended state observer,task space
Journal
20
Issue
ISSN
Citations 
18.0
1424-8220
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Yongli Yan100.34
Li Ding242.47
Yana Yang313110.16
Fucai Liu4537.49