Sliding Control of Force Reflecting Teleoperation: Preliminary Studies
3
P. Buttolo
P. Braathen
B. Hannaford
Presence magazine, vol. 3, pp. 158-172, 1994
1994 MITPRESS
http://rcs.ee.washington.edu/BRL/publications/Rep081.pdf
In this paper, sliding mode non-linear control is applied to force
reflecting teleoperation. Various forms of the sliding mode control
law are derived for force feedback master manipulator with an
arbitrary factor for force and position scaling.  Experiments were
performed on a one axis test system and frequency domain hybrid 2-port
matrices are measured and compared between the sliding mode controller
and a classical position error based feedback controller. Time domain
experiments are also performed. The model based portion of the sliding
mode controller was shown to be responsible for most of its
performance improvement, but the non-linear `sliding' component was
essential for steady state position accuracy.