info:eu-repo/semantics/article
P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
Fecha
2018-08Registro en:
Salinas, Lucio Rafael; Santiago, Diego; Slawiñski, Emanuel; Mut, Vicente Antonio; Chavez Garcia, Geovanny Danilo; et al.; P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot; Inst Control Robotics & Systems; International Journal Of Control Automation And Systems; 16; 4; 8-2018; 1927-1937
1598-6446
2005-4092
CONICET Digital
CONICET
Autor
Salinas, Lucio Rafael
Santiago, Diego
Slawiñski, Emanuel
Mut, Vicente Antonio
Chavez Garcia, Geovanny Danilo
Leica Arteaga, Paulo Cesar
Camacho Quintero, Oscar Eduardo
Resumen
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.