IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Sliding mode speed auto-regulation technique for robotic tracking
Robotics and Autonomous Systems
A supervisory loop approach to fulfill workspace constraints in redundant robots
Robotics and Autonomous Systems
A path conditioning method with trap avoidance
Robotics and Autonomous Systems
Adaptive fuzzy logic control for time-delayed bilateral teleoperation
AIS'12 Proceedings of the Third international conference on Autonomous and Intelligent Systems
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Sliding mode control has been used extensively in robotics to cope with parametric uncertainty and hard nonlinearities, in particular for time-delay teleoperators, which have gained gradual acceptance due to technological advancements. However, since the slave teleoperator is in contact with a rigid environment, the slave controller requires a free of chattering control strategy, thus making first order sliding mode teleoperation control unsuitable. As an alternative, chatter free, higher-order sliding mode teleoperator control is proposed in this paper to guarantee robust tracking under unknown constant time delay. Moreover, complete order observers are proposed to avoid measurement of velocity and acceleration, along with a formal closed-loop stability proof of the observer-based controller. Experimental results are presented and discussed, which reveals the effectiveness of the proposed teleoperation scheme.