García-Zarco, Luis A. and Santacruz-Reyes, Hugo and López-Segovia, Alan G. and Bandala-Sánchez, Manuel and García-Zarco, Luis A. (2017) Passive impedance-based second-order sliding mode control for non-linear teleoperators. International Journal of Advanced Robotic Systems, 14 (1). ISSN 1729-8806
Full text not available from this repository.Abstract
Bilateral teleoperation systems have attracted significant attention in the last decade mainly because of technological advancements in both the communication channel and computers performance. In addition, non-linear multi-degree-of-freedom bilateral teleoperators along with state observers have become an open research area. In this article, a model-free exact differentiator is used to estimate the full state along with a chattering-free second-order sliding mode controller to guarantee a robust impedance tracking under both constant and an unknown time delay of non-linear multi-degree-of-freedom robots. The robustness of the proposed controller is improved by introducing a change of coordinates in terms of a new nominal reference similar to that used in adaptive control theory. Experimental results that validate the predicted behaviour are presented and discussed using a Phantom Premium 1.0 as the master robot and a Catalyst-5 virtual model as the slave robot. The dynamics of the Catalyst-5 system is solved online.