Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller
Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller
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DOI：
10.1109/tie.2009.2018538
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发表时间：
2009-09-01
影响因子：
7.7
通讯作者：
Nergiz, Ahmet Ozcan
中科院分区：
文献类型：
--
作者：
Khan, Shahzad;Sabanovic, Asif;Nergiz, Ahmet Ozcan
在本文中，离散时间滑模控制器的设计基于李雅普诺夫理论沿着与鲁棒干扰观测器，并应用于高精度运动的压电工作台。压电工作台的线性模型与标称参数用于补偿作用在系统上的干扰，以实现纳米精度。通过对纳米级基准的闭环定位性能测试，验证了控制器和干扰观测器的有效性。控制结构已被应用到定制的远程微操作设置的缩放双边结构。利用内置惠斯通电桥的压阻式原子力显微镜悬臂梁实现压阻式探针针尖与环境之间的纳米级相互作用力。实验结果提供了纳米牛顿范围的力传感，实验数据和理论估计之间的良好协议已被证明。力/位置跟踪和主设备和从设备之间的透明度在必要的缩放后得到了清楚的证明。
In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance acting on the system in order to achieve nanometer accuracy. The effectiveness of the controller and disturbance observer is validated in terms of closed-loop position performance for nanometer references. The control structure has been applied to a scaled bilateral structure for the custom-built telemicromanipulation setup. A piezoresistive atomic force microscope cantilever with a built-in Wheatstone bridge is utilized to achieve the nanonewton-level interaction forces between the piezoresistive probe tip and the environment. Experimental results are provided for the nanonewton-range force sensing, and good agreement between the experimental data and the theoretical estimates has been demonstrated. Force/position tracking and transparency between the master and the slave has been clearly demonstrated after necessary scaling.