Sliding Mode Control for Nonlinear Characteristic of Hydraulic Manipulators in Teleoperated Control Configuration

This paper presents sliding mode control for hydraulic manipulators. In the teleoperated configuration, the slave robot is actuated by hydraulic systems, which suffer from nonlinearity. When the master moves by an operator, the slave robot is required to move after the master. The slave robot is regulated by a sliding mode controller to minimize the tracking errors caused by nonlinearities in hydraulic actuators. Experimental studies of position tracking control by PID and sliding mode controllers are conducted to demonstrate the performances in the teleoperated configuration.