Sliding mode control for a constrained master-slave system
Abstract
This document describes the development of a control for a master-slave system composed of a physical joystick with two degrees of freedom (master system) and its virtual twin (slave system). A robust control based on sliding modes fundamentals has been implemented for the virtual joystick to ensure trajectory tracking. The main contribution of this work is the implementation of a control algorithm that considers time-varying position constraints to ensure that the slave device remains in a specific workspace and thus improves human-machine interaction. Simulations were carried out to verify the operation of the system. The proposed control was compared with a first-order sliding mode control. According to the obtained results, it is evident that when the proposed control scheme was implemented, the fulfillment of the proposed position constraints is satisfied.
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References
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Copyright (c) 2023 Luis Bernardo Añorve Jimenez, Roderico García-Leal, Mariana Ballesteros, David Cruz-Ortiz
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