Acceleration feedback control for teleoperation systems with asymmetric time-varying delays

Procedure for acceleration feedback control of teleoperation systems with asymmetric time-varying delays is proposed. The acceleration feedback is applied to the master controller, while in the slave side the position error plus damping controller is used. The ISS/IOS small-gain theory is applied to analyze the stability of the closed-loop system, and hence the passivity assumption for the human operator and the environment is not required. Simulation results are presented, which show that the resulting teleoperation system is stable with good tracking performance between the master and the slave.