Teleoperation system design over the internet with velocity estimation

The paper addresses the controller design problem for a class of teleoperation systems. The forward and the backward transmission time delays are time-varying and asymmetric. The velocities of the master and slave joints are not available and the precise mathematical robot models are also not known. For dealing with the control problem, we first design a high gain observer to estimate the velocities of the master and slave joints. Then the controller is designed with the estimated velocities. The controller design parameters are determined by solving linear matrix inequalities (LMIs). Finally, simulations are performed to show the effectiveness of the proposed main results.