Observer-based Integral Sliding Mode Approach for Bilateral Teleoperation with Unknown Time Delay

摘要

This paper deals with force-reflecting control design for teleoperation of bilateral robots under unknown constant time delay. The proposed impedance teleoperator control is based on integral sliding mode approaches, avoiding undesirable chattering effect. With the aim of implementing the proposed controller and taking into account that only position measurement is available, a Nonlinear Observer based on Super Twisting Algorithm is proposed to estimate velocity and acceleration in the slave side of the teleoperation system. Furthermore, owing to the finite-time convergence properties of the observer, the proposed control scheme guarantees robust tracking under unknown constant time delay. Experimental results illustrate the effectiveness of the proposed scheme.