However, since the slave teleoperator is in contact with a rigid environment, the slave controller requires a free of chattering control strategy, thus making first order sliding mode teleoperation control unsuitable.
A tidy package of information-free chatter?
The actual control input obtained by integrating the derivative control signal is smooth and chattering free.
This control technique provides chattering free global stability of the error dynamics.
Simulations validate the proposed chattering free full-order sliding-mode control.
A continuous control strategy is developed to achieve the chattering free sliding-mode control.
As robust as sliding mode control, the synergetic approach used is chattering free and provides rapid convergence.
The main advantage of the proposed OSOSMC is that the control input is substantially reduced and it becomes chattering free.
Second, a decentralized virtual plant controller is constructed which allows the embedded low-pass filter to attain the chattering free property of the sliding mode controller.
The first modified method ensures limited control effort as well as complete chattering free response, but does not improve the reaching characteristics.
