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

doi:10.1007/s12555-017-0439-x

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

Department of Engineering Mathematics

Research output: Contribution to journal › Article (Academic Journal) › peer-review

32 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	1927-1937
Number of pages	11
Journal	International Journal of Control, Automation and Systems
Volume	16
Issue number	4
DOIs	https://doi.org/10.1007/s12555-017-0439-x
Publication status	Published - 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.

Keywords

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

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title = "P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot",

abstract = "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.",

keywords = "Bilateral teleoperation, Lyapunov-Krasovskii, mobile robot, PD-like control, sliding mode control",

author = "Salinas, {Lucio R.} and Diego Santiago and Emanuel Slawi{\~n}ski and Mut, {Vicente A.} and Danilo Chavez and Paulo Leica and Oscar Camacho",

note = "Publisher Copyright: {\textcopyright} 2018, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature.",

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AU - Salinas, Lucio R.

AU - Santiago, Diego

AU - Slawiñski, Emanuel

AU - Mut, Vicente A.

AU - Chavez, Danilo

AU - Leica, Paulo

AU - Camacho, Oscar

PY - 2018/7/11

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N2 - 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.

AB - 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.

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KW - Lyapunov-Krasovskii

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KW - PD-like control

KW - sliding mode control

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

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Keywords

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