Design and Analysis of Position/Force Control in Teleoperation Systems with Disturbances

Simultaneous position and force tracking are two critical factors in teleportation systems to achieve transparency. In this paper, a new control scheme is proposed to guarantee asymptotic position and force tracking in teleportation systems with disturbances. To this end, two sliding mode controllers are designed for the master and the slave robots respectively and are incorporated into the 4-channel teleportation framework. In order to demonstrate the validity of the proposed control scheme, the performance of the overall teleportation control system is rigorously proved and analyzed in a mathematical way. The analysis results show that the designed teleportation control scheme can simultaneously achieve asymptotic position and force tracking performance of the master and the slave robots.