@article{Hace_2008, title={Bilateral Teleoperation by Sliding Mode Control Design Approach}, volume={4}, url={https://online-journals.org/index.php/i-joe/article/view/700}, DOI={10.3991/ijoe.v4i4.700}, abstractNote={Sliding mode control has been used extensively in robotics to cope with parameters uncertainty, model perturbations and system disturbance. Bilateral robotic teleoperators are often required to provide a haptic interaction in telerobotic applications in which human kinesthetic sense is stimulated locally by remote environment. The paper deals with bilateral control for a force-reflection master-slave telerobotic architecture. It involves a short overview of basic bilateral modes. Chattering-free SMC design procedure for force-reflecting master-slave teleoperator is presented. The proposed bilateral control scheme was experimentally validated for a 1DOF master-slave teleoperator.}, number={4}, journal={International Journal of Online and Biomedical Engineering (iJOE)}, author={Hace, Ales}, year={2008}, month={Oct.}, pages={pp. 6–16} }