|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."
Extended state observer, integral sliding mode control, lumped system uncertainties, teleoperation system.