<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Teleoperation robotic systems control, which enables humans to perform activities in remote situations, has become an extremely challenging field in recent decades. In this paper, a Model Free Proportional-Derivative Sliding Mode Controller (MFPDSMC) is devoted to the synchronization problem of teleoperation systems subject to actuator dynamics, time-varying delay, model uncertainty, and input interaction forces. For the first time, the teleoperation model used in this study combines actuator dynamics and manipulator models into a single equation, which improves model accuracy and brings it closer to the actual system than in prior studies. Further, the proposed control approach, called Free, involves the simple measurement of inputs and outputs to enhance the system’s performance without relying on any knowledge from the mathematical model. In addition, our strategy includes a Sliding Mode term with the MFPD term to increase system stability and attain excellent performance against external disturbances. Finally, using the Lyapunov function under specified conditions, asymptotic stability is established, and simulation results are compared and provided to demonstrate the efficacy of the proposed strategy.</p>
</abstract>

Teleoperation robotic systems control, which enables humans to perform activities in remote situations, has become an extremely challenging field in recent decades. In this paper, a Model Free Proportional-Derivative Sliding Mode Controller (MFPDSMC) is devoted to the synchronization problem of teleoperation systems subject to actuator dynamics, time-varying delay, model uncertainty, and input interaction forces. For the first time, the teleoperation model used in this study combines actuator dynamics and manipulator models into a single equation, which improves model accuracy and brings it closer to the actual system than in prior studies. Further, the proposed control approach, called Free, involves the simple measurement of inputs and outputs to enhance the system’s performance without relying on any knowledge from the mathematical model. In addition, our strategy includes a Sliding Mode term with the MFPD term to increase system stability and attain excellent performance against external disturbances. Finally, using the Lyapunov function under specified conditions, asymptotic stability is established, and simulation results are compared and provided to demonstrate the efficacy of the proposed strategy.

Model-Free Sliding Mode Control for a Nonlinear Teleoperation System with Actuator Dynamics

Laboratory of Automation and Systems Analysis (LAAS)

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Teleoperation robotic systems control, which enables humans to perform activities in remote situations, has become an extremely challenging field in recent...

Model-Free Sliding Mode Control for a Nonlinear Teleoperation System with Actuator Dynamics

Data publikacji: 26 gru 2023

Zakres stron: 69 - 77

Otrzymano: 04 lip 2022

Przyjęty: 03 sty 2023

DOI: https://doi.org/10.14313/jamris/1-2023/9

Słowa kluczowe
Model Free Sliding Mode Controller, Teleoperation robotic systems, Actuator dynamics, Time-varying delay, Model uncertainty

© 2023 Henni Mansour Abdelwaheb et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Model-Free Sliding Mode Control for a Nonlinear Teleoperation System with Actuator Dynamics

Data publikacji: 26 gru 2023

Zakres stron: 69 - 77

Otrzymano: 04 lip 2022

Przyjęty: 03 sty 2023

DOI: https://doi.org/10.14313/jamris/1-2023/9

Słowa kluczoweModel Free Sliding Mode Controller, Teleoperation robotic systems, Actuator dynamics, Time-varying delay, Model uncertainty

© 2023 Henni Mansour Abdelwaheb et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Słowa kluczowe
Model Free Sliding Mode Controller, Teleoperation robotic systems, Actuator dynamics, Time-varying delay, Model uncertainty