Robust control of holonomic constrained robotic manipulators with stochastic time delays

In this paper, robust networked control is investigated for remote motion/force control of robotic manipulators with random time delays. Both sensor-to-controller and controller-to-actuator random network-induced delays are considered in the remote networked control. These random-network-induced delays are modeled as Markov processes. Based on the stochastic Lyapunov method, sufficient conditions for the boundedness in probability of the system solutions are given. It is proven that all the signals of the the robotic manipulator system are bounded in probability. Finally, the extensive experiments are performed to show the effectiveness of the proposed method.