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

Abdelwaheb Henni Mansour, Abderrahmane Kacimi, AEK Belaidi

Journal of Automation Mobile Robotics and Intelligent Systems

2023

Vol. 17, No. 1

69--77

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.

Composite adaptive SMC of nonlinear base isolated buildings with actuator dynamics

Luo N., De La Sen M., Rodellar J.

Applied Mathematics and Computer Science

1998

Vol. 8, no 1

183-197

This paper addresses the problem of designing a robust active controller for nonlinear base isolated building structures in the presence of unknown seismic excitations, parametric uncertainties and actuator dynamics. A simple adaptation law is introduced to get available upper bounds for the unknown seismically excited nonlinearities. Adaptive composite output feedback sliding mode control schemes are proposed to drive the displacements of the base and structure to their zero equilibrium positions. A numerical simulation example is presented to illustrate the effectiveness of the proposed strategies to a ten-storey base isolated structure under the El Centro earthquake.