Motion synchronisation of bilateral teleoperation systems with mode-dependent time-varying communication delays

In this study, motion synchronisation control of bilateral teleoperation system is investigated. Compared with previous passivity framework, the communication delays are assumed to be stochastically time varying. By feedback linearisation, the non-linear dynamics of the teleoperation system is transformed into two linear subsystems: local master-slave position control and delayed motion synchronisation. The authors propose new control strategies based on linear matrix inequalities (LMIs) and Markov jump linear systems, which guarantees ultimate boundedness of the master-slave trajectories. With Lyapunov methods, they show that the master-slave teleoperation system is stochastically stable in mean square under specific LMI conditions. Finally, the simulations are performed to show the effectiveness of the proposed method.