Bilateral Control of Nonlinear Teleoperation with Time Varying Delays

Abstract

This paper addresses the bilateral control of nonlinear teleoperation with time varying delays. The proposed control strategies are two types of simple PD-type controllers which directly connect the master and slave robots by position and velocity signals over the delayed communication. For the velocity control, the first controller has a time varying D-gains which depend on the rate of change of delays and the second one has a constant D-gains which are designed under stability condition. Moreover the both controllers have explicit position feedback/feedforward control. Using Lyapunov-Krasovskii function, the delay-depend stability of the origin is shown for the range of the gains. Furthermore the proposed framework enforces master-slave position coordination and static force reflection. Several simulation and experimental results show the effectiveness of our proposed framework.