Adaptive hybrid motion/force control of Bilateral Tele-operation with unsymmetrical time-varying delays

In this paper, adaptive controls are proposed for hybrid motion/force synchronization of master-slave tele-operation system with unsymmetric time-varying delays in communication channels. Using partial feedback linearization, the whole tele-operation system contained both master and slave manipulator dynamics is transformed into two subsystems: local master/slave motion/force control with unmodelled dynamics and delayed motion/force synchronization. Then, adaptive controls combing Linear Matrix Inequalities (LMIs) are proposed to deal with the dynamical uncertainties and robust against time delay. The proposed controls are robust against relative motion disturbances, parametric uncertainties and time delays, which are validated by extensive simulation studies.