Scaled bilateral teleoperation using discrete-time sliding mode controller

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Khan, Shahzad and Şabanoviç, Asif and Nergiz, Ahmet Özcan (2009) Scaled bilateral teleoperation using discrete-time sliding mode controller. IEEE Transactions on Industrial Electronics, 56 (9). pp. 3609-3618. ISSN 0278-0046

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Official URL: http://dx.doi.org/10.1109/TIE.2009.2018538


In this paper, the design of a discrete-time slidingmode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage 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 is validated in terms of closed-loop position performance for nanometer references. The control structure has been applied to a scaled bilateral structure for the custom-built telemicromanipulation setup. A piezoresistive atomic force microscope cantilever with a built-in Wheatstone bridge is utilized to achieve the nanonewtonlevel interaction forces between the piezoresistive probe tip and the environment. Experimental results are provided for the nanonewton-range force sensing, and good agreement between the experimental data and the theoretical estimates has been demonstrated. Force/position tracking and transparency between the master and the slave has been clearly demonstrated after necessary scaling

Item Type:Article
Uncontrolled Keywords:Bilateral control; discrete sliding-mode control (SMC); disturbance observer; force sensing; high-precision motion control; telemicromanipulation
Subjects:T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering
ID Code:12557
Deposited By:Asif Şabanoviç
Deposited On:09 Nov 2009 12:44
Last Modified:22 Jul 2019 14:54

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