Leblebici, Tuğba and Çallı, Berk and Ünel, Mustafa and Şabanoviç, Asif and Bogosyan, Seta and Gökaşan, Metin (2011) Delay compensation in bilateral control using a sliding mode observer. Turkish Journal of Electrical Engineering and Computer Sciences, 19 (6). pp. 851-859. ISSN 1300-0632
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Official URL: http://dx.doi.org/10.3906/elk-1007-625
Abstract
In bilateral control applications, time delays in the communication channel have destabilizing effects and cause degradations in the performance of the system. In this paper, a sliding mode observer is used in conjunction with a disturbance observer to predict states of the slave system. Predicted states are then used in control formulation. Simulation and experimental results show that the proposed method avoids instability due to time delays in bilateral operation and provides satisfactory performance.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | Bilateral control; teleoperation; sliding mode observer; disturbance observer; time delay |
| Subjects: | Q Science > QA Mathematics > QA075 Electronic computers. Computer science |
| Divisions: | Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics Faculty of Engineering and Natural Sciences |
| Depositing User: | Mustafa Ünel |
| Date Deposited: | 18 Nov 2011 21:27 |
| Last Modified: | 30 Jul 2019 14:33 |
| URI: | https://research.sabanciuniv.edu/id/eprint/17461 |
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