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Fuzzy PID and Sliding Mode Control for Master-Slave Bilateral Teleoperation System with Disturbance Observer

In this paper, a new robust control of bilateral tele-micromanipulation system with different operating characteristics of the master and the slave is proposed. The master force tracking used fuzzy PID control to reduce the overshoot and improve the robustness of the system. This work is also aim to improve the synchronization and tracking effect. The slave accurate position of tracking is ensured by using the sliding mode control. Due to the displacement tracking is affected sensitively by disturbance, we therefore designed a kind of nonlinear disturbance observer to estimate and compensate the disturbance online. In addition, we used the saturation function to replace sign function that leading to weaken of the observer output chattering phenomenon. In order to ensure stability conditions of the system with time delay as well as to select the derived parameters the Liewellyn absolute stability criterion is developed in this study. Tests are carried out based on the multiple degrees of freedom platform for the tele-micromanipulation system. The obtained results show that the proposed methods can ensure the good position tracking and force tracking under the condition of ensuring the system robustness.