A robust adaptive algorithm for bilateral control system without force sensor with time delay

This paper presents a robust adaptive controller to achieve position tracking and unknown parameters problem in teleoperation system with time delay in communication channel. The smooth sliding mode control is added to deal with uncertainties in modeling, instead of normal sliding mode control to avoid the chattering problem. This robust adaptive control can guarantee that the system is asymptotically stable by using Lyapunove energy function. An external disturbance force at the slave site comes from an unknown environment. Force estimation algorithm is applied as the force observer which can replace a force sensor which has some limitations. Simulation results of the force and position response between the master and slave are shown.