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P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot

  • Lucio R. Salinas
  • Diego Santiago
  • Emanuel Slawiñski
  • Vicente A. Mut
  • Danilo Chavez
  • Paulo Leica
  • Oscar Camacho
Regular Papers Robot and Applications
  • 25 Downloads

Abstract

This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The proposal includes on the remote site both a P+d control and an SMC strategy in such a way that the advantages of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delaydependent stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and stability of the proposed control scheme.

Keywords

Bilateral teleoperation Lyapunov-Krasovskii mobile robot PD-like control sliding mode control 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Lucio R. Salinas
    • 1
  • Diego Santiago
    • 1
  • Emanuel Slawiñski
    • 1
  • Vicente A. Mut
    • 1
  • Danilo Chavez
    • 2
  • Paulo Leica
    • 2
  • Oscar Camacho
    • 2
  1. 1.Instituto de Automática (INAUT)Universidad Nacional de San Juan, CONICETSan JuanArgentina
  2. 2.Escuela Politécnica Nacional (EPN), Ladrón de Guevara E11-253QuitoEcuador

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