Scaled Bilateral Teleoperation Using Discrete-Time Sliding Mode Controller
Khan, Shahzad and Nergiz, Ahmet Özcan and Şabanoviç, Asif (2008) Scaled Bilateral Teleoperation Using Discrete-Time Sliding Mode Controller. (Submitted)
Abstract—In this article design of a discrete time sliding mode controller based on Lyapunov theory is presented along with the robust disturbance observer and applied to a piezo-stage for highprecision motion. Linear model of a piezo-stage was used with nominal parameters to compensate the disturbance acting on the system in order to achieve nanometer accuracy. The effectiveness of the controller and disturbance observer was verified in term of closed loop position performance for nanometer references. The control structure has been applied in bilateral structure for the custom built tele-micromanipulation setup. Piezoresistive AFM cantilever with inbuilt Wheatstone bridge is utilized to achieve nano-newton level interaction forces between piezoresistive probe tip and the environment. Experimental results are provided for the nano-newton range force sensing and good agreement among the experimental data and the theoretical estimates has been demonstrated. Force/Position tracking and transparency between master and slave has been clearly demonstrated after necessary scaling.
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