P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot

Lucio R. Salinas*, Diego Santiago, Emanuel Slawiñski, Vicente A. Mut, Danilo Chavez, Paulo Leica, Oscar Camacho

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

20 Citations (Scopus)


This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The proposal includes on the remote site both a P+d control and an SMC strategy in such a way that the advantages of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delaydependent stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and stability of the proposed control scheme.

Original languageEnglish
Pages (from-to)1927-1937
Number of pages11
JournalInternational Journal of Control, Automation and Systems
Issue number4
Publication statusPublished - 11 Jul 2018

Bibliographical note

Publisher Copyright:
© 2018, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature.


  • Bilateral teleoperation
  • Lyapunov-Krasovskii
  • mobile robot
  • PD-like control
  • sliding mode control


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