Second order sliding mode controller design for bilateral teleoperation system

WANG Rui-qi1， FENG Yu-guang2， ZHANG Wen-guang1， GU Wen-jin1
（1. Department of Control Engineering， Naval Aeronautical and Astronautical University， Yantai 264001， China；
2. Department of Enginery Science and Technology， Naval Aeronautical and Astronautical University，
Yantai 264001，China）

Abstract： First order sliding mode control needs a large bandwidth and high frequency switch to deal with parameteric uncertainties and hard nonlinearities. This requirement prevented the method form widely accepted in bilateral teleoperation applications. On this basis，the second order sliding mode control and impedance control were combined，the control structure under the large time delay was designed. The complete order observers were proposed to avoid measurement of acceleration，the robustness and fast tracking without chattering were realized. After the analysis of stabilization，Lyaponov function method was used to prove the stabilization theorem. Finally，the closed system were evaluated on the two different time delay. Experimental results show that this approach is valid and has encouraging stabilization performance.
Key words： bilateral control； teleoperation； second order sliding mode control； large time delay