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

doi:10.1049/cth2.12198

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	Bilateral force sensorless control based on finite-time adaptive sliding-mode-assisted disturbance observer
	D. Tian and S. Ni
刊名	IET Control Theory and Applications
	2021
卷号	15 期号:18 页码:2355-2365
ISSN号	17518644
DOI	10.1049/cth2.12198
英文摘要	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 proposedmethod. 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.
URL标识	查看原文
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/65074]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	D. Tian and S. Ni. Bilateral force sensorless control based on finite-time adaptive sliding-mode-assisted disturbance observer[J]. IET Control Theory and Applications,2021,15(18):2355-2365.
APA	D. Tian and S. Ni.(2021).Bilateral force sensorless control based on finite-time adaptive sliding-mode-assisted disturbance observer.IET Control Theory and Applications,15(18),2355-2365.
MLA	D. Tian and S. Ni."Bilateral force sensorless control based on finite-time adaptive sliding-mode-assisted disturbance observer".IET Control Theory and Applications 15.18(2021):2355-2365.