Title of article
Delay compensation in bilateral control using a sliding mode observer
Author/Authors
LEBLEBICI, Tugba Sabanci University - Faculty of Engineering and Natural Sciences, TURKEY , CALLI, Berk Sabanci University - Faculty of Engineering and Natural Sciences, TURKEY , UNEL, Mustafa Sabanci University - Faculty of Engineering and Natural Sciences, TURKEY , SABANOVIC, Asif Sabancl University - Faculty of Engineering and Natural Sciences, TURKEY , BOGOSYAN, Seta University of Alaska Fairbanks - Electrical and Computer Engineering Department, U.S.A , GOKASAN, Metin Istanbul Technical University - Control Engineering Department, TURKEY
From page
851
To page
859
Abstract
In bilateral control applications, time delays in the communication channel have destabilizing effects and cause degradations in the performance of the system. In this paper, a sliding mode observer is used in conjunction with a disturbance observer to predict states of the slave system. Predicted states are then used in control formulation. Simulation and experimental results show that the proposed method avoids instability due to time delays in bilateral operation and provides satisfactory performance.
Keywords
Bilateral control , teleoperation , sliding mode observer , disturbance observer , time delay
Journal title
Turkish Journal of Electrical Engineering and Computer Sciences
Journal title
Turkish Journal of Electrical Engineering and Computer Sciences
Record number
2532114
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