SMC based bilateral control

Design of a motion control system should take into account (a) unconstrained motion performed without interaction with environment or other system, and (b) constrained motion with system in contact with environment or another system or has certain functional interaction with another system. Control in both cases can be formulated in terms of maintaining desired system configuration what makes essentially the same structure for common tasks: trajectory tracking, interaction force control, compliance control etc. It will be shown that the same design approach can be used for systems that maintain some functional relation – like bilateral or multilateral systems, relation among mobile robots or control of haptic systems..