2024
DOI: 10.1002/rnc.7251
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Remote tele‐operation using model reference discrete‐time sliding mode control

Nabanita Adhikary,
Andrzej Bartoszewicz,
Rajeeb Dey

Abstract: In this article, a dissipativity based discrete time sliding mode controller is proposed for bilateral tele‐operation in presence of communication delays and packet losses. The controllers for both master and slave arm are designed to follow a predefined impedance dynamics with dissipative characteristics. The slave arm controller is designed as a two layered structure. The first layer uses the tracking error between master and slave to create a target velocity profile based on the user defined impedance dynam… Show more

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