Sliding Mode Control Scheme for Tele-Operation Manipulator

Abstract

Master and slave manipulator has been widely used because it can work easily in the working environment where the human beings can hardly work. In order to make the manipulator control system have good tracking performance, a control strategy based on sliding mode control was proposed for master-slave manipulator control system. Considering that the quality and stability of servo system will be affected by the chattering phenomenon in the SMC, a reaching law approach was used to reduce the chattering phenomenon. The proposed control strategy can make the master and slave manipulator have good performances on force and position tracking, and the chattering problem has also been alleviated. Simulation and experiments results show that the proposed control strategy can produce good performances on the force and position tracking, the problem of chattering has also been inhibited significantly, and the stability and quality of the master and slave manipulator has been improved as well.