Disturbance-Observer-Based Sliding Mode Control Design for Nonlinear Bilateral Teleoperation System With Four-Channel Architecture

Abstract

Good transparency performance (e.g., position tracking and force feedback) is an important issue in the control design of teleoperation systems. The four-channel architecture has advantages in the achievement of good transparency performance for teleoperation systems. However, most of the existing four-channel architectures are used in the linear teleoperation system, which cannot be well applied to execute tasks in the increasingly complicated operation environments. Thus, designing the four-channel architecture to achieve good transparency performance for nonlinear teleoperation systems with uncertainties is still a challenging issue. In this paper, the disturbance-observer-based sliding mode control design with a novel four-channel architecture is developed for the nonlinear bilateral teleoperation system to achieve a good transparency performance in the consideration of uncertainties and external disturbance, where the operating torque, master position, slave position, and the environment torque signals are transmitted through the communication channel. The reference tracking planner is designed in both the master and slave sides to produce the passive reference trajectories, and the disturbance-observer-based sliding mode controller is subsequently designed for the master and slave robots to achieve the good position tracking performance. The good force feedback performance can be achieved by the proper selection of plan parameters in the master reference tracking planner. Thus, the good transparency performance with both position tracking and force feedback can be achieved for the nonlinear bilateral teleoperation system with this novel four-channel architecture. The comparative simulation and experiment are implemented, and the results demonstrate good transparency performance achievement with the proposed control design. INDEX TERMS Nonlinear bilateral teleoperation, sliding mode control, disturbance observer, four channel, good transparency.

Enhancement of Stability and Transparency in Teleoperated Robots Through Isotropy-Based Design

“…On this basis, recent developments in architecture such as [25] and [26] adhere to a 4-channel architecture. Even the newly developed controllers are being tested on a 4-channel architecture [27]. An extension of the wave-variable method shown in [28] is still combined with a 4-channel architecture.…”

State and disturbance observers‐based chattering‐free fixed‐time sliding mode control for a class of high‐order nonlinear systems

“…The basic idea of SMC is to force the system state trajectories (by applying a designed control law to the system) to slide onto the sliding surface (specific switching manifold), and defining a sliding surface such that tracking errors reach zero along with the sliding surface. It has been employed for various practical applications to ensure the robustness feature of the controllers 2–10 …”

“…Furthermore, while the conventional SMC methods can only ensure asymptotic stability with infinite settling time, 2,6,7,9,15,19 the finite‐time stability methods can ensure the system convergences with finite settling time 3–5 . Attributes including ensuring finite‐time convergence and reducing chattering phenomenon have led to incorporate finite‐time stability notions and SMC schemes with chattering reduction 5,8,17,18,20–22 .…”

Finite-Time Control of Myringotomy Surgical Device Based on Nonsingular Terminal Sliding Disturbance Observer

“…Robust control and DOB are chosen to compensate for the hysteresis, weight of cutter retraction mechanism and uncertainties, whereas the impedance control is used to regulate the dynamic response of the surgical device. In [26], a disturbance observer-based sliding mode controller is designed for master and slave robots to achieve position tracking performance. In [27], an integral terminal sliding-mode-based adaptive back-stepping control is proposed.…”