Model‐free sliding mode control for a nonlinear teleoperation system with actuator dynamics

• Autorzy: Abdelwaheb Henni Mansour , Abderrahmane Kacimi , AEK Belaidi

Identyfikatory

DOI

10.14313/JAMRIS/1‐2023/9

• Języki publikacji: EN

Abstrakty

EN

Teleoperation robotic systems control, which enables humans to perform activities in remote situations, has become an extremely challenging field in recent decades. In this paper, a Model Free Proportional‐Derivative Slid‐ ing Mode Controller (MFPDSMC) is devoted to the syn‐ chronization problem of teleoperation systems subject to actuator dynamics, time‐varying delay, model uncer‐ tainty, and input interaction forces. For the first time, the teleoperation model used in this study combines actuator dynamics and manipulator models into a single equation, which improves model accuracy and brings it closer to the actual system than in prior studies. Further, the proposed control approach, called Free, involves the simple mea‐ surement of inputs and outputs to enhance the system’s performance without relying on any knowledge from the mathematical model. In addition, our strategy includes a Sliding Mode term with the MFPD term to increase system stability and attain excellent performance against external disturbances. Finally, using the Lyapunov func‐ tion under specified conditions, asymptotic stability is established, and simulation results are compared and provided to demonstrate the efficacy of the proposed strategy.

Słowa kluczowe

EN

model free sliding mode controller; teleoperation robotic system; actuator dynamics; time-varying delay; model uncertainty

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2023
• Tom: Vol. 17, No. 1
• Strony: 69--77
• Opis fizyczny: Bibliogr. 32 poz., rys.

Twórcy

autor

Abdelwaheb Henni Mansour

• Laboratory of Automation and Systems Analysis, (LAAS), National Polytechnic School of Oran Algeria

autor

Abderrahmane Kacimi

• Institute of Industrial Security Maintenance of Oran, Algeria

autor

AEK Belaidi

• Laboratory of Automation and Systems Analysis, (LAAS), National Polytechnic School of Oran Algeria

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).