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Improving transparency of bilateral control system by sliding mode assist disturbance observer
Author(s) -
Tian Dapeng,
Yashiro Daisuke,
Ohnishi Kouhei
Publication year - 2013
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.21851
Subject(s) - transparency (behavior) , control theory (sociology) , benchmark (surveying) , disturbance (geology) , observer (physics) , mode (computer interface) , engineering , cutoff , cutoff frequency , sliding mode control , computer science , control (management) , control engineering , nonlinear system , artificial intelligence , computer security , electrical engineering , paleontology , physics , geodesy , quantum mechanics , biology , geography , operating system
Transparency is an important indicator to evaluate the performance of a bilateral control system. Uncompensated disturbances in high frequency degrade the transparency in the traditional disturbance observer (DOB) based bilateral control. This paper analyzes the influence of the uncompensated disturbances, and proposes a sliding mode assist disturbance observer (SMADO) to solve the problem. The sliding mode technique helps the original DOB to estimate the disturbances in high frequency by making use of a rapid switching control value. The required switching gain is small in the proposal, which is good for alleviating the chattering. Moreover, to avoid conservative and arbitrary design of the switching gain, a reasonable benchmark is proposed by employing the estimation error between the original DOB and another parallel DOB with a different cutoff frequency. The validity of the proposal is confirmed by experiments. © 2013 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.