Control Scheme for Stable Bilateral Teleoperation with Time Delay

In teleoperation system, the tracking ability is reduced due to the existence of time delay in communication channel, as communication delay can degrade the performance and destabilize the system. In this paper, a particular control scheme, the quasi-linear minimal order feedback controller have been proposed to control bilateral teleoperation, which is subjected to communication time delay. The designed controller not only guarantees fast tracking properties, but also provides a smooth approximation of possibly discontinuous reference trajectory. The goal of our approach is to make both the master and slave manipulators stable and retaining passivity of communication channel, so that stability of overall telerobotic system with any communication delay can be ensured. The method stated in the paper is helpful in practical application in the design of bilateral teleoperation with communication delay. Simulation results show the validity of the proposed control scheme with one DOF master/slave system.