A control architecture for dual user teleoperation with unknown time delays: A sliding mode approach

This paper presents a sliding mode-based impedance controller for delayed dual user teleoperation system with unknown delay. The latency which has considerable undesirable effects on system stability and performance is compensated through this control approach. The nonlinear gain of the controller is achieved independent of time delay caused by communication channels. Therefore, the necessity of measurement or estimation of the time delay is relaxed. In addition, the stability analysis is presented for the closed-loop system employing the passivity theory. The validity of the proposed controller scheme is demonstrated via simulations performed on a delayed dual user system.