A robust adaptive algorithm for bilateral control system without force sensor

This paper presents a robust adaptive algorithm with smooth sliding mode for bilateral control system which necessary uses for achieving in teleoperation. The system uses a hybrid structure to implement simultaneous force and position control, with a two-channel controller. The desired trajectory is the position of a master device manipulated by a human operator, which serves as the reference position for the slave device. Robust adaptive control with smooth sliding mode control is applied to deal with modeling uncertainties, unknown parameters and achieve tracking problem between the desired trajectory from the master and the current trajectory of the slave. Force symmetry architecture is used in this system. An external disturbance at the slave site comes from an unknown environment. Force estimation will be used in place of force sensors. The stability of the system is analyzed using Lyapunov functions. Simulation results of the force and position response between the master and slave are shown.