NDLI: Remote haptic sensing using sliding-mode assist disturbance observer as force detector

Content Provider	IET Digital Library
Author	Tian, Dapeng Zhang, Ye
Abstract	Bilateral controlled master–slave robot system is an important intermediary to realise remote haptic sensing. This study proposes a sliding-mode assist disturbance observer (SMADO) to detect force information in wider bandwidth without force sensors by making use of the fast switching of sliding-mode control values. Moreover, a bilateral control law is proposed based on the SMADO. The proposal tolerates the presence of disturbances and uncertainties in the robots. The influence of these factors is degraded by using the net forces to design the bilateral control rather than employing a robust compensation. This design shows such a feasibility that high performance haptic sensing can be achieved using the SMADO as a wide bandwidth force detector without any robust compensators. The validity of the proposal is confirmed by experiments in practice. The proposal realises the position tracking and action–reaction law between the two robots, which makes the operator vividly feel the remote object.
Starting Page	1517
Ending Page	1524
Page Count	8
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 10, Jun (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/10
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2014.0435
Journal	IET Control Theory & Applications
Publisher Date	2015-04-29
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Action-reaction Law Bilateral Control Law Design Bilateral Controlled Master-slave Robot System Compensation Control System Analysis Control System Synthesis Disturbance Tolerance Force Detector Force Information Detection Haptic InterFace High-performance Haptic Sensing Modelling And Identification Multi-robot System Multivariable Control System Observers Position Tracking Remote Haptic Sensing Remote Object Robust Compensation Robust Control Simulation Sliding-mode Assist Disturbance Observer Sliding-mode Control Value SMADO Stability in Control Theory Synthesis Method Telerobotics Uncertain System Uncertainty Tolerance Variable Structure System Wide-bandwidth Force Detector
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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