Control and measurement delay compensation in bilateral position control

The main aim of this study is the improvement of the previously presented disturbance observer based bilateral control approaches of the authors with a delay regulator and a model tracking control (MTC) that runs on the slave side. These improvements eliminate the problems related to variable time delay inherent to such systems and model mismatch, respectively, and, hence, addressing the control and measurement delay problems in bilateral control applications. The performance is evaluated experimentally on a single-link arm controlled over the internet. The results demonstrate a significant improvement over the previously presented results obtained under load uncertainties and randomly varying network delays both in the control and feedback loop.