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A Lyapunov Approach for SOSM Based Velocity Estimation and Its Application to Improve Bilateral Teleoperation Performance

[+] Author Affiliations
Vinay Chawda, Marcia K. O’Malley

Rice University, Houston, TX

Paper No. DSCC2011-6181, pp. 337-343; 7 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME


In many mechatronic applications, velocity estimation is required for implementation of closed loop control. Proportional-Integral control based differentiation has been proposed to estimate velocity in bilateral teleoperation. We propose a Second Order Sliding Mode (SOSM) based velocity estimation scheme for this application, since the SOSM approach is robust to small disturbances near the origin. Simulation results demonstrate the superior performance of the SOSM based velocity estimation over the PI-control approach for bilateral teleoperation in viscous environments. Additionally, a novel Lyapunov function based approach to stability analysis of the SOSM based differentiator is presented.

Copyright © 2011 by ASME



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