Delay compensation in bilateral control using a sliding mode observer

Authors

TUĞBA LEBLEBİCİ
BERK ÇALLI
MUSTAFA ÜNEL
ASIF SABANOVIC
SETA BOGOSYAN
METİN GÖKAŞAN

DOI

10.3906/elk-1007-625

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.

Keywords

Bilateral control, teleoperation, sliding mode observer, disturbance observer, time delay

First Page

851

Last Page

859

Recommended Citation

LEBLEBİCİ, TUĞBA; ÇALLI, BERK; ÜNEL, MUSTAFA; SABANOVIC, ASIF; BOGOSYAN, SETA; and GÖKAŞAN, METİN (2011) "Delay compensation in bilateral control using a sliding mode observer," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 19: No. 6, Article 3. https://doi.org/10.3906/elk-1007-625
Available at: https://journals.tubitak.gov.tr/elektrik/vol19/iss6/3