Abstract
A novel control scheme has been proposed to solve the synchronization control problem for a nonlinear bilateral teleoperation system with time delays in this paper. An extended state observer is introduced to deal with the lumped system uncertainties. Both fast convergence rate and high convergence precision are guaranteed via designing an integral sliding mode controller. Some general Lyapunov stability criteria are given for the nonlinear bilateral teleoperation system with time delays. Lastly, two Phantom Premium 1.5 HF robot manipulators are used in the experiments to demonstrate the effectiveness of the developed techniques in this paper.
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Recommended by Associate Editor Do Wan Kim under the direction of Editor Fuchun Sun. The authors would like to thank the anonymous reviewers for their detailed comments which helped to improve the quality of the paper. The work was supported by National Natural Science Foundation of China (51505413, 61573301, 61473161).
Ling Zhao was born in Hebei Province, China, in 1984. She received the B.S. degree in mathematics and applied mathematics and the M.S. degree in applied mathematics from Hebei University of Science and Technology, Shijiazhuang, China, in 2005 and 2008, respectively. She received the Ph.D. degree in control science and engineering in Beijing Institute of Technology, Beijing, China, in 2012. She is currently a teacher with the Department of Automation, Institute of Electrical Engineering, Yanshan University, China. Her research interests include robust control/filter theory, delta operator systems, networked control systems and stochastic systems.
Hao Zhang was born in Shandong Province, China, in 1990. He received the B.S. degree in Automation from City Institute, Dalian University of Technology, Dalian, China, in 2013. He is currently working toward an M.S. degree at the Department of Electrical Engineering, Yanshan University. His research interests include teleoperation systems, active disturbance rejection control and sliding mode control.
Yana Yang received the B.S degree and Ph.D degree in Electric Engineering from Yanshan University, Qinhuangdao, China, in 2011 and 2016, respectively. She is currently a postdoctoral fellow with the Department of Mechanical Engineering, Yanshan University. Her current research interest include teleoperation system control, underwater robot control and highorder nonlinear system control.
Hongjiu Yang was born in Hebei Province, China, in 1981. He received the B.S. degree in mathematics and applied mathematics and the M.S. degree in applied mathematics from Hebei University of Science and Technology, Shijiazhuang, China, in 2005 and 2008, respectively. He received the Ph.D. degree in control science and engineering in Beijing Institute of Technology, Beijing, China, in 2011. He is currently an Associate Professor with the Department of Automation, Institute of Electrical Engineering, Yanshan University, China. His research interests include robust control/filter theory, delta operator systems, networked control systems and stochastic systems.
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Zhao, L., Zhang, H., Yang, Y. et al. Integral sliding mode control of a bilateral teleoperation system based on extended state observers. Int. J. Control Autom. Syst. 15, 2118–2125 (2017). https://doi.org/10.1007/s12555-016-0441-8
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DOI: https://doi.org/10.1007/s12555-016-0441-8