Tele-Operated Bilateral Control of Hydraulic Servo System using Estimated Reaction Force of End Effector by SMCSPO

Abstract

In this research, the reaction force estimation method based on sliding mode control with sliding perturbation observer (SMCSPO) is proposed for a tele-operated bilateral control of hydraulic servo system having master-slave manipulators. The hydraulic servo system is a key system used in the dismantling nuclear power plant. The reaction force at the end effector of slave is estimated by sliding perturbation observer (SPO) without using any sensor. A tele-operated bilateral control strategy in hydraulic servo system is used for the position and force tracking between the master and slave. Sliding mode control (SMC) is further used for the position tracking control of a slave. The proposed method is verified through the experiment results which shows that the slave device can follows the trajectory of the master device using the proposed tele-operated bilateral control and reaction force estimation method.