Año: 2018
Autores: Salinas, L.; Santiago, D.; Slawiñski, E.; Mut, V.;Danilo Chavez ;Paulo Leica ;Oscar Camacho ;
Resumen: 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 a 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 delay-dependent 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.
Link: https://doi.org/10.1007/s12555-017-0439-x