Bilateral force sensorless control based on finite‐time adaptive sliding‐mode‐assisted disturbance observer

Abstract Bilateral teleoperation systems are widely used to compensate for image spin and in many other applications. Good transparency (position tracking and force feedback) is an important performance index in the control design of bilateral teleoperation systems. This study aims to achieve good t...

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Autores principales:	Dapeng Tian, Shiquan Ni
Formato:	article
Lenguaje:	EN
Publicado:	Wiley 2021
Materias:	Control engineering systems. Automatic machinery (General) TJ212-225
Acceso en línea:	https://doaj.org/article/a128b9dd43184812af73612467a05d4f
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spelling	oai:doaj.org-article:a128b9dd43184812af73612467a05d4f2021-11-18T06:47:31ZBilateral force sensorless control based on finite‐time adaptive sliding‐mode‐assisted disturbance observer1751-86521751-864410.1049/cth2.12198https://doaj.org/article/a128b9dd43184812af73612467a05d4f2021-12-01T00:00:00Zhttps://doi.org/10.1049/cth2.12198https://doaj.org/toc/1751-8644https://doaj.org/toc/1751-8652Abstract Bilateral teleoperation systems are widely used to compensate for image spin and in many other applications. Good transparency (position tracking and force feedback) is an important performance index in the control design of bilateral teleoperation systems. This study aims to achieve good transparency for teleoperation systems using force sensorless by proposing an alternative to direct force measurement. Our proposed method is a finite‐time adaptive sliding‐mode‐assisted disturbance observer, which combines disturbance observer with adaptive sliding mode control. The finite‐time stability of adaptive sliding‐mode‐assisted disturbance observer is analysed using the Lyapunov theory. Moreover, a bilateral control law based on adaptive sliding‐mode‐assisted disturbance observer is designed. The proposed method not only improves the system transparency with both force feedback and position tracking, but is also chatter‐free. Experiments are conducted using bilateral brushless DC motors in an experimental setup to demonstrate the effectiveness of the proposed method.Dapeng TianShiquan NiWileyarticleControl engineering systems. Automatic machinery (General)TJ212-225ENIET Control Theory & Applications, Vol 15, Iss 18, Pp 2355-2365 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Control engineering systems. Automatic machinery (General) TJ212-225
spellingShingle	Control engineering systems. Automatic machinery (General) TJ212-225 Dapeng Tian Shiquan Ni Bilateral force sensorless control based on finite‐time adaptive sliding‐mode‐assisted disturbance observer
description	Abstract Bilateral teleoperation systems are widely used to compensate for image spin and in many other applications. Good transparency (position tracking and force feedback) is an important performance index in the control design of bilateral teleoperation systems. This study aims to achieve good transparency for teleoperation systems using force sensorless by proposing an alternative to direct force measurement. Our proposed method is a finite‐time adaptive sliding‐mode‐assisted disturbance observer, which combines disturbance observer with adaptive sliding mode control. The finite‐time stability of adaptive sliding‐mode‐assisted disturbance observer is analysed using the Lyapunov theory. Moreover, a bilateral control law based on adaptive sliding‐mode‐assisted disturbance observer is designed. The proposed method not only improves the system transparency with both force feedback and position tracking, but is also chatter‐free. Experiments are conducted using bilateral brushless DC motors in an experimental setup to demonstrate the effectiveness of the proposed method.
format	article
author	Dapeng Tian Shiquan Ni
author_facet	Dapeng Tian Shiquan Ni
author_sort	Dapeng Tian
title	Bilateral force sensorless control based on finite‐time adaptive sliding‐mode‐assisted disturbance observer
title_short	Bilateral force sensorless control based on finite‐time adaptive sliding‐mode‐assisted disturbance observer
title_full	Bilateral force sensorless control based on finite‐time adaptive sliding‐mode‐assisted disturbance observer
title_fullStr	Bilateral force sensorless control based on finite‐time adaptive sliding‐mode‐assisted disturbance observer
title_full_unstemmed	Bilateral force sensorless control based on finite‐time adaptive sliding‐mode‐assisted disturbance observer
title_sort	bilateral force sensorless control based on finite‐time adaptive sliding‐mode‐assisted disturbance observer
publisher	Wiley
publishDate	2021
url	https://doaj.org/article/a128b9dd43184812af73612467a05d4f
work_keys_str_mv	AT dapengtian bilateralforcesensorlesscontrolbasedonfinitetimeadaptiveslidingmodeassisteddisturbanceobserver AT shiquanni bilateralforcesensorlesscontrolbasedonfinitetimeadaptiveslidingmodeassisteddisturbanceobserver
_version_	1718424433332322304

Bilateral force sensorless control based on finite‐time adaptive sliding‐mode‐assisted disturbance observer

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