Tele-Operated Bilateral Control of Hydraulic Servo System Using TSMCSPO Based Estimated Reaction Force of End Effector

In this research, we have proposed to use a terminal sliding mode control with sliding perturbation observer (TSMCSPO) to estimate the reaction force of a tele-operated bilateral control of hydraulic servo system for master-slave manipulators. The hydraulic servo system has a key role in dismantling of nuclear power plants. The main objective is to estimate the reaction force at the end effector of slave by sliding perturbation observer (SPO) without using any sensor. For the position and force tracking between the master and slave, a bilateral control strategy using terminal sliding mode control (TSMC) is proposed. The experimental results show that the slave device can follow the trajectory of the master device using the proposed tele-operated bilateral control strategy and reaction force estimation method.