A control scheme for bilateral teleoperation systems based on time-varying communication delay identification

In this paper, we first introduce passivity and wave variables, and then analyze the reasons of time-varying communication delay. For this time-varying delay we propose a time-varying communication delay identification method and from this method the time-varying communication delay parameter can converge quickly. Finally we combine this method with wave integrals and propose a control scheme especially for time-varying communication delay. The effectiveness of the proposed method has been demonstrated through the simulations