Delay compensation in bilateral control using a sliding mode observer

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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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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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