Transparency Improved Sliding-Mode Control Design for Bilateral Teleoperation Systems by Using Virtual Manipulator Concept

This paper proposes a new methodology for designing sliding mode bilateral controllers based virtual manipulator concept that aims to reach the most transparency considering parameter uncertainties and disturbances. This method shows a modified scheme of the sliding mode control that leads the alleviation of the tradeoff between position and force tracking, which is crucial in certain teleoperation applications. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. In addition, a new fuzzy logic scheme is also proposed to eliminate the chattering phenomena caused by sign function in the sliding mode controller. Simulation results show the superior performance of the proposed fuzzy sliding mode scheme, with respect to previous method, particularly in term of significantly ameliorating transparency in the presence of unknown parameters and disturbances.

[1]  Romeo Ortega,et al.  On tracking performance in bilateral teleoperation , 2006, IEEE Transactions on Robotics.

[2]  Karun B. Shimoga,et al.  A survey of perceptual feedback issues in dexterous telemanipulation. II. Finger touch feedback , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.

[3]  Hoang Duong Tuan,et al.  Nonlinear adaptive control of master–slave system in teleoperation☆ , 2003 .

[4]  Septimiu E. Salcudean,et al.  Analysis and evaluation of stability and performance robustness for teleoperation control architectures , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[5]  Wen-Hong Zhu,et al.  Stability guaranteed teleoperation: an adaptive motion/force control approach , 2000, IEEE Trans. Autom. Control..

[6]  Dale A. Lawrence.  Stability and transparency in bilateral teleoperation , 1993, IEEE Trans. Robotics Autom..

[7]  K. Ohnishi,et al.  The transformation of modified 4-channel architecture , 2004, The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04..

[8]  Mahdi Tavakoli,et al.  Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves , 2011, 2011 IEEE International Conference on Robotics and Automation.

[9]  Mark W. Spong,et al.  Bilateral teleoperation: An historical survey , 2006, Autom..

[10]  R. W. Daniel,et al.  Fundamental Limits of Performance for Force Reflecting Teleoperation , 1998, Int. J. Robotics Res..

[11]  Blake Hannaford,et al.  Scaling, impedance, and power flows in force reflecting teleoperation , 1991 .

[12]  H. A. Talebi,et al.  A control architecture for dual user teleoperation with unknown time delays: A sliding mode approach , 2010, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[13]  Mahdi Tavakoli,et al.  An enhanced sliding-mode control for a pneumatic-actuated teleoperation system , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1994, IEEE Trans. Robotics Autom..

[15]  Karel Jezernik,et al.  Bilateral teleoperation by sliding mode control and reaction force observer , 2010, 2010 IEEE International Symposium on Industrial Electronics.

[16]  Septimiu E. Salcudean,et al.  On the use of local force feedback for transparent teleoperation , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[17]  Her-Terng Yau,et al.  Chattering-free fuzzy sliding-mode control strategy for uncertain chaotic systems , 2006 .