P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot

Lucio R. Salinas, Diego Santiago, Emanuel Slawiñski, Vicente A. Mut, Danilo Chavez, Paulo Leica, Oscar Camacho

Research output: Contribution to journalArticlepeer-review

21 Scopus citations


This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The proposal includes on the remote site both a P+d control and an SMC strategy in such a way that the advantages of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delaydependent stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and stability of the proposed control scheme.

Original languageEnglish
Pages (from-to)1927-1937
Number of pages11
JournalInternational Journal of Control, Automation and Systems
Issue number4
StatePublished - 1 Aug 2018
Externally publishedYes


  • Bilateral teleoperation
  • Lyapunov-Krasovskii
  • PD-like control
  • mobile robot
  • sliding mode control


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