Intelligent Systems Conference 2018
6-7 September 2018 | London, UK
Tele-Operated Bilateral Control of Hydraulic Servo
System using TSMCSPO based Estimated Reaction
Force of End Effector
Karam Dad Kallu
Department of Mechanical Engineering
Pusan National University
Busan, South Korea
e-mail: Karamdadkallu@gmail.com
M Atif Yaqub
Department of Mechanical Engineering
Pusan National University
Busan, South Korea
Abstract— 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 follows the trajectory of the master device using
the proposed tele-operated bilateral control strategy and reaction
force estimation method.
Keywords—Tele-operation, Bilateral Control, TSMCSPO,
Reaction Force Estimation, Master- Slave, Hydraulic Servo System
I. INTRODUCTION
Most currently available technologies and processes could
be successfully converted for remote operation. Successful
remote operation requires the operator to see the area in which
the work is being performed and manipulate the equipment
well enough to accomplish the required tasks. Remote
technologies can be categorized into several areas such as
dismantling arrangement technology, cutting technology,
detection, segmenting, decontamination, sampling, handling
and handled remote equipment. Many researcher about the
remote cutting technology for the dismantling nuclear facilities
had been carried out and the robot system was developed [1-8].
Maestro robot system for the dismantling nuclear facilities was
developed in France [9-10]. Robot system whose structure
contains of master and slave (Bilateral Control) is suitable in
nuclear power plant where humans cannot get the directly
access and the object material with high load to be dismantled
Wang Jie
Department of Mechanical Engineering
Pusan National University
Busan, South Korea
Min Cheol Lee
Department of Mechanical Engineering
Pusan National University
Busan, South Korea
e-mail: mclee@pusan.ac.kr
should be precisely controlled in remote site, high power
actuator such as the hydraulic system is required to be used.
In another research a Tele-operation system was adopted
for human operator to control a manipulator located far away.
It allows human operator to control a manipulator and made it
possible to feel the interaction between a manipulator and
environment. In Tele-operation systems, the controller is
designed according to the information flow between master
and slave. This control architecture is based on law of
information flow and is called bilateral controller. Many
researches about bilateral control architecture have already
been performed. Researchers have mainly studied two channel
architectures, such as force-force (F-F), position-position (P-P),
force-position (F-P), and position-force (P-F) architectures.
The referred research suggests a bilateral controller with three
or four channel architecture [11-14]. In this paper we describe
a new robotic hand system with master slave configuration.
Bluetooth is being used as the communication channel between
the master and slave for the tele-operation [15-19]. In
conventional bilateral control architecture, many studies have
used force sensors to detect external force. However, the use of
force sensor is the cause of some problems. Robot system with
a force sensor is regarded as a two mass resonant system, it is
difficult to realize high frequency force sensing [20-21].
Therefore, in this research we use terminal sliding mode
control with sliding perturbation observer (TSMCSPO), which
is a robust control algorithm, to estimate the reaction force and
also tele-operated bilateral control of hydraulic servo system
for end effector of master-slave manipulator. The reaction
force of slave is estimated by sliding perturbation observer
(SPO) without using any sensor. The tele-operated bilateral
control architecture is used to achieve a perfect tracking of
position and force between the master and slave in a real time.
Also the force reflection is applied to provide the information
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of remote working environment to human operator. Using

visual feedback to control the slave while seeing the control
system (PC).
The remaining part of the paper is organized as follow:
Section 2, describe the structure and dynamics of hydraulic
servo system used in dismantling power plant. In section 3,
Terminal sliding mode control with sliding perturbation
observer (TSMCSPO) is discussed. Section 4 describes the
tele-operated bilateral control between master and slave for
hydraulic servo system. Section 5 describes experimental
environment and results. Section 6 concludes the work.
II. STRUCTURE AND DYNAMICS OF HYDRAULIC SERVO
SYSTEM Fig. 2. Hydraulic servo system.
Hydraulic servo systems are heavily used in high Fig 3 shows the schematic diagram of end effector of the
performance applications such as the machine-tool industry. hydraulic servo system.
Examples are material handling, mobile equipment, plastics,
steel plants, mining, oil exploration and automotive testing. A
servomechanism can be designed to control almost any
physical quantity, e.g. motion, force, pressure, temperature,
electrical voltage or current. The hydraulic servo actuator
provides fast response, high force and short stroke
characteristics. The main advantages of hydraulic components
are easy and accurate control of work table position and
velocity, good stiffness characteristics, zero backlash, rapid
response to change in speed or direction, and low rate of wear.
The hydraulic actuators of robots for dismantling a nuclear
power plant consist of two hydraulic cylinders and one AC
servo motor. Vertical movement requires a greater force as
compared to horizontal movement in dismantling power plant Fig. 3. Schematic of end effector.
structure. Size, shape and structure of 3DOF hydraulic servo
system used in dismantling nuclear power plant is shown in The dynamics of a robot describe the relationship between
Fig 1 and Fig 2. forces, torques and motion. The general dynamic equation of a
manipulator in free space is described by

 
T  A   B  ,   g      

Where  , A , B , , g   and T are the the vector joint
of angles, the mass/inertia matrix, the centrifugal/coriolis
torque, the gravity torque in joint space, and the vector of joint
torques, respectively. The dynamics equation of end effector
of hydraulics servo system is as follow

( J s1  J s1)1  (Ds1  Ds1  1)1  0.5M s1L1g sin1   e1  T1 

In above equation, J s1 , D s1 are the interia and damper of

Fig. 1. Structure of hydraulic servo system.
end effector.  shows the uncertainty of parameters,  1 is
viscosity of cylinders 1, M s1 is mass of end effector, L1 is
length of end effector,  e1 is reaction torques by contact with
environment of joint 1,  is dynamics effect, 1 is viscosity
friction of cylinder 1, T1 is joint torque of end effector.

III. TERMINAL SLIDING MODE CONTROL WITH SLIDING

PERTURBATION OBSERVER (TSMCSPO)
The combination of controller (TSMC) and observer (SPO)
makes a new form called terminal sliding mode control with
sliding perturbation observer (TSMCSPO) [22]. Terminal
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sliding mode control (TSMC) applies terminal sliding mode in
the reaching phase and the sliding phase for robotic
manipulators with global finite-time stability. The robustness
of controller is addressed using the Lyapunov stability theory,
which enables faster and higher-precision tracking
performance [23]. In TSMCSPO, TSMC is used to reduce the
error ê j between desired trajectories with estimation value.
The dynamics of ŝ j is defined as follow.
sˆ j  eˆ j   j1 eˆ j signeˆ 
r
 
Where eˆ j  xˆ1 j  x1dj is the estimated position tracking
error. The sufficient existence condition of TSMCSPO can be
guaranteed when we design s̂ j as follow.
  r
sˆ j   j Rmax j k1 j  0 j sign(sˆ j )  3 j s j sign(sˆ j ) 
Where  j is the anticipated boundary of perturbation, 3 j
is a positive constant number and Rmax j is defined as follow.
displays the output of established connection by displaying a
status message showing the connectivity state. On both GUIs
we should press the AMP OFF and then AMP On buttons.
This will ensure the working of amplifiers. To start the system
operation Read button needs to be pressed. The master side
should press the read button followed immediately by the
slave side. Once the system is started, the master reads the
current orientation of both axes and the calculation of all the
intermediate variables is done which is required by the slave.
These calculations are critical for the system performance.
 The required information including the axes orientations is
transmitted to the slave via network sockets. These sockets are
the pathways for the data transfer. The slave application
receive the data sent by the master and moves the robotic
actuator to follow the master trajectory along with calculating
the reaction force using TSMCSPO. The slave then returns it
calculated position and estimated perturbation back to the
master using the same socket connection. This whole
procedure is kept running until the whole robotic system is
working and slave continuously follows the master commands
along with providing the reaction force at the master end. Fig
4 shows the schematic diagram of tele-operation.

Rmax j 
  p p  k1 j  0 j   
p 3
 k1 j  0 j p  k 2 j
2
 0 j p   32j k 2 j  0 j 

The control input u j of TSMCSPO is defined as follows.

   r

1  j Rmax j k1 j  0 j sign(sˆ j )  3 j s j sign(sˆ) 
uj     
 2 j 0 
3 j  k   k  2 ~x  x  ˆ
j 1 j 0 j 1 j 1dj j 

The actual s j -dynamics within the boundary layer

Fig. 4. Schematic diagram of tele-operation.
sˆ j   0 j becomes.
The client server topology is similar to master slave
s j  1 j sign(s j )   2 j s j sign(s j ) s j  configuration in robotics. For networking programming (Tele-
r

  operation) both PC’s must be accessible on network and their

k    k    sign(s )   s r sign(s )   r eˆ r 1 e  k   ~x

IP and port number are required to connect them together.
 2 j 0 j  1 j 0 j 1 j j 2j j j  j1 j
 j 1 j 0 j  1 j
 After the connection is established the system can
~ communicate and work in real-time. Fig 5 shows the diagram
 1 j sign(s j )   2 j s j sign(s j )   j1r eˆ j e j  ~x2 j   j
r r 1

  of tele-operation.

IV. TELE-OPERATED BILATERAL CONTROL BETWEEN

MASTER AND SLAVE
A. Tele-operation
The master and slave robotic systems are set to operating
conditions with necessary safety and electric power checking.
One the systems are powered up the master application is
started followed by the slave application. The master is started Fig. 5. Tele-operation.
first as it has to listen for incoming slave connections on its IP
address and port number 3000. The master stays in the waiting
B. Bilateral Control
state until the slave application is started. When the slave
application is started, it tries to connect with the master system The objective of bilateral control is that the position of
by using the IP address and port number of the master system. slave follow the position of master and operator can feel the
Following this sequence, the Graphical User Interface (GUI) reaction force from the environment through the master. The

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dynamics equation of master and slave for hydraulic servo

system are described by.
J mm  Bmm  u m   h    
J ss  Bss  u s   e    
Where J m , J s , u m and u s are inertia, position and control
input of master and slave of hydraulic servo system,
respectively. Action force generated by operator while
maneuvering the master device is denoted by  h , while
reaction force appears when slave device is touching remote
environment is defined by  e . The structure of bilateral
Fig. 8. Video feedback.
controller is shown in Fig. 6.
Fig. 9 shows the experimental result of master-slave
trajectories for end effector. The red line shows the
experimental result of master device whereas, the blue line
shows the experimental result of slave device by using
TSMCSPO. It can be observed that the slave device can follow
the master device. The maximum value of trajectory is 56
degree at 11 sec. The end effector of slave device can move
between 0 and 90 degree.

Fig. 6. Bilateral control structure.

The experimental setup includes master device, slave
device and a control system as shown in Fig 7.

Fig. 9. Master slave trajectories of end effector.

The error between master-slave trajectories for end
effector is shown in Fig. 10. The maximum error between
master and slave trajectories is 0.9 degree at 30 sec. It can be
observed that the error between master and slave trajectories
are very small.

Fig. 7. Experimental setup.

V. EXPERIMENTAL ENVIRONMENT AND RESULTS
The master and slave device consist of three links each, in
which third link connected with base. We can find the reaction
force at end effector. TSMCSPO is used to estimate the
reaction force. The scenario of experiment is set up such that
the operator (Human) moves the master device and slave
device can follow the trajectory of master device using
TSMCSPO while seeing on the control system (PC) through
video feedback. The TSMC will control the slave device to
follow the master device trajectory. Fig. 8 shows the video
feedback to control the slave while seeing the control system Fig. 10. Error between master-slave trajectories of end
(PC). effector.

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Fig. 11 shows the estimated perturbation of master and
slave for end effector. The maximum estimated perturbation is
600 N*m at 19 sec.
Fig. 11. Estimated perturbation of end effector.
VI. CONCLUSION
In this paper, we have estimated the reaction force of end
effector of hydraulic servo system with master-slave
manipulators using TSMCSPO without using any sensor. By
using a TSMC based tele-operated bilateral control strategy
and visual feedback, the slave device followed the trajectory of
master device (Human operator) with minimum error. It is
useful, such as transportation of active uranium in nuclear
power plants or disposal of explosive, remote cutting for
nuclear power plant dismantling etc.
ACKNOWLEDGMENT
This research was supported by Higher Education
Commission (HEC) of Pakistan, under the research and
development program
This research was supported by the MOTIE (Ministry of
Trade, Industry & Energy), Korea, under the Industry
Convergence Liaison Robotics Creative Graduates Education
Program supervised by the KIAT (N0001126).
This work was supported by the National Research
Foundation of Korea (NRF) grant funded by the Korea
Government (MSIP) (No.NRF-2012M2B2B 1055503).
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