Reaction force estimation and bilateral control of master slave manipulation using a robust controller

In this paper, proposed a reaction force estimation and bilateral control of master slave manipulation in hydraulic servo system based on Sliding mode control with sliding perturbation observer (SMCSPO). The reaction force is estimated by sliding perturbation observer (SPO) without using any force sensor. The estimated reaction force without force sensor is transmitted to the master device using the impedance model controller. Sliding mode control (SMC) is used to a bilateral controller for the position and force tracking control of a slave. This study proves in experiment that the slaver of a hydraulic servo system can follow the trajectory of the master device (Human Command) using the bilateral control scheme.