Discrete Sliding Mode Control Design for Bilateral Teleoperation System via Adaptive Extended State Observer

Area of Science:

• Robotics
• Control Systems Engineering
• Networked Systems

Background:

• Nonlinear teleoperation systems face challenges with synchronization control due to system uncertainties and time delays.
• Packet-switched communication networks introduce nonlinear discrete states affecting system performance.

Purpose of the Study:

• To improve the synchronization control performance of nonlinear teleoperation systems.
• To address system uncertainties and time delays in discrete-state teleoperation systems.

Main Methods:

• A novel discrete sliding mode control (DSMC) strategy using a new reaching law in task space.
• An adaptive extended state observer (AESO) to estimate total system disturbances and states.
• Automatic adjustment of AESO gain to minimize estimation errors.

Main Results:

• The new reaching law effectively reduces chattering and enhances control performance.
• The AESO accurately estimates system states and disturbances, improving overall estimation.
• Simulations and experiments validate the effectiveness of the proposed DSMC and AESO strategy.

Conclusions:

• The integrated DSMC and AESO approach significantly improves synchronization control in nonlinear teleoperation systems.
• The proposed methods offer a robust solution for teleoperation under uncertain and delayed conditions.