Disturbance Observer Based Synchronization Controtl for Passive Bilateral Teleoperation Systems with Time Delays

Abstract

In the present research, a synchronization control approach together with a novel disturbance observer for nonlinear passive bilateral teleoperation systems is proposed. All if the unknown dynamic terms such as external disturbances, modeling uncertainties and friction forces are lumped into one disturbance signal. Afterwards, the DOB technique is designed to obtain the estimated lump disturbance signal for both the master and the slave manipulators. The exponential convergence of lump disturbance estimation error to zero is verified. Also, based on the proposed control law, the positions of the master-slave system synchronize and the position errors are globally exponentially stable despite communication delay. Finally, the efficacy of the suggested scheme on a bilateral tele-rehabilitation system is shown by simulation results. © 2022 IEEE.