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

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

20 Citas (Scopus)


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.

Idioma originalInglés
Páginas (desde-hasta)1927-1937
Número de páginas11
PublicaciónInternational Journal of Control, Automation and Systems
EstadoPublicada - 1 ago. 2018
Publicado de forma externa


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