J-052

Sliding-Mode Controller for Bilateral Teleoperation with Varying Time Delay

Authors: Jong Hyeon Park and Hyun Chul Cho
Affiliation: School of Mechanical Engineering, Hanyang University

Abstract
Bilateral teleoperation systems, connected to computer networks such as Internet have to deal with varying communication time delay. And the entire system is easy to become unstable due to irregular time delay. In this paper, we design a sliding-mode controller for the slave and an impedance controller for the master. We propose a modified sliding-mode controller, in which the nonlinear gain can be set independently of the time delay variation. The proposed controller effectively compensates the effects of the varying time delay which deteriorates the performance of the regular sliding-mode controller. We illustrate the validity of the proposed controller using simulations with 1-DOF master/slave bilateral teleoperation system.

Jong Hyeon Park
Associate Professor
School of Mechanical Engineering
Hanyang University
jongpark@email.hanyang.ac.kr