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

다국어 초록 (Multilingual Abstract)

A novel control scheme has been proposed to solve the synchronization control problem for a nonlinearbilateral teleoperation system with time delays in this paper. An extended state observer is introduced to deal withthe lumped system uncertainties. Both fast convergence rate and high convergence precision are guaranteed viadesigning an integral sliding mode controller. Some general Lyapunov stability criteria are given for the nonlinearbilateral teleoperation system with time delays. Lastly, two Phantom Premium 1.5 HF robot manipulators are usedin the experiments to demonstrate the effectiveness of the developed techniques in this paper.

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