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Integral Sliding Mode Control of a Bilateral Teleoperation System based on Extended State Observers

Ling Zhao*, Hao Zhang, Yana Yang, and Hongjiu Yang
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2118-2125, 2017

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."

Keyword : Extended state observer, integral sliding mode control, lumped system uncertainties, teleoperation system.

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