|P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
Lucio R. Salinas*, Diego Santiago, Emanuel Slawiñski, Vicente A. Mut, Danilo Chavez, Paulo Leica, and Oscar Camacho
International Journal of Control, Automation, and Systems, vol. 16, no. 4, pp.1927-1937, 2018
Abstract : "This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control
(SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays.
The proposal includes on the remote site both a P+d control and an SMC strategy in such a way that the advantages
of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delaydependent
stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is
evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and
stability of the proposed control scheme."
Bilateral teleoperation, Lyapunov-Krasovskii, mobile robot, PD-like control, sliding mode control.