Transparent Higher Order Sliding Mode Control for Nonlinear Master-Slave Systems without Velocity Measurement

Abstract

Transparency has been a major objective in bilateral teleoperation systems, even in the absence of time delay induced by the communication channel, since a high degree of transparency would allow humans to drive the remote teleoperator as if he or she were directly interacting with the remote environment, with the remote teleoperator as a physical and sensorial extension of the operator. When fast convergence of position and force tracking errors are ensured by the control system, then complete transparency is obtained, which would ideally guarantee humans to be tightly kinaesthetically coupled. In this paper a model-free Cartesian second order sliding mode (SOSM) PD control scheme for nonlinear master-slave systems is presented. The proposed scheme does not rely on velocity measurements and attains very fast convergence of position trajectories, with bounded tracking of force trajectories, rendering a high degree of transparency with lesser knowledge of the system. The degree of transparency can easily be improved by tuning a feedback gain in the force loop. A unique energy storage function is introduced; such that a similar Cartesian-based controller is implemented in the master and slave sides. The resulting properties of the Cartesian control structure allows the human operator to input directly Cartesian variables, which makes clearer the kinaesthetic coupling, thus the proposed controller becomes a suitable candidate for practical implementation. The performance of the proposed scheme is evaluated in a semi-experimental setup.

Research on mechanism configuration and coordinated control for power distribution network live working robot

“…The main aim of the dual-arm coordination control includes robot multi-joint linkage control, which focuses on improving work efficiency, robot manipulator autonomous location control, which focus on improving work intelligence and dynamic distribution control of internal forces in a dual-arm closed chain, which focus on improving work reliability. Such as Garcia-Valdovinos et al (2015) proposed a force control method for the dual-arm coordination in the master-slave mode, Zhang et al (2013) proposed a master-slave position-force control method and it is used to realize the task of the dual-mechanical arm coordinated control for objects transfer, Li et al (2015) proposed a master-slave position control and it is used for the coordinated motion control of double industrial robots to pick up the same objects, Lochan et al (2018) applied the master-slave position compensation control method to double industrial robots so as to completing the coordination operation of bolts and nuts tightening, Kesner and Howe (2014) proposed a master-slave position-force compensation control method based on genetic algorithm for dual-arm coordination robots and Liu et al (2016) proposed a dual-arm coordinated control strategy combined with a master-slave control method and symmetry control method and performed collision judgment and obstacle avoidance control by detecting the motion path of dual robots. In addition, for the dual-arm coordination operation, the arms need to be output at the same time.…”

Research on dual-arm coordination motion control strategy for power cable mobile robot

“…The current study of dual-arm coordination control can be mainly divided into master-slave control method based on kinematics model and force-position hybrid control method based on dynamic model. For example, Garcia-Valdovinos et al (2015) proposed a force control method for mastering the dual-arm coordination in the master-slave mode, which achieves the operation object grabbing, and analyzed the necessity of force control in the operation process. Zhang et al (2013) proposed a master-slave position-force control method and it is used to realize the task of the dual-mechanical arm coordinated control for objects transfer.…”

Control of bilateral teleoperators with time delays using only position measurements

“…Few remarkable works deal with the control of teleoperators without relying on velocity measurements. () In the work of Garcia‐Valdovinos et al, a sliding control technique was used to control a linearized version of the local and remote manipulators, making use of measurements of the force of human and environment. An adaptive control scheme, to render the teleoperator input‐to‐state stable, was provided in the work of Polushin et al The work of Hua and Liu proves boundedness of the position error using a high‐gain velocity observer.…”

“…For the undelayed case, Nuño et al proposed the use of a velocity filter to achieve position tracking. Garcia‐Valdovinos et al employed a higher‐order sliding‐mode controller to achieve exponential stabilization of a delay‐free teleoperator. Considering input saturation and viscous friction, Zhai and Xia proposed a bounded proportional‐derivative‐like scheme that can ensure position tracking for bilateral teleoperators without measuring velocities.…”