Bilateral telecontrol of underactuated mechanical systems over constant time-delay channels

This paper deals with the problem of time-delay telecontrol of a class of underactuated mechanical systems (UMS) in a master-slave configuration. This problem has been solved by designing some discontinuous causal compensators which have proved by formal stability analysis to guarantee position coordination of the mechanisms and to allow good force reflection to the master side, satisfying in this way classical control objectives in the telecontrol of systems. Moreover, the whole closed-loop system behaves stable and results robust to parametric uncertainties and external disturbances. The performance of the proposed control scheme is visualized through simulations.