Nonlinear bilateral control of teleoperators by state convergence

This paper presents a new nonlinear bilateral control method for telerobotics based on the state convergence framework. Considering the nonlinear systems of the master and slave, the exact linearization is applied in order to obtain the equivalent linear systems. This way, the convergence methodology is used to design the control scheme considering the equivalent linear systems. Then, the control gains obtained from the equivalent linear systems are used in the nonlinear bilateral control scheme to control the teleoperator. The control system allows that the slave state follows the master state and to establish the desired dynamics of the teleoperation system. Several simulation results are shown to verify the performance of the nonlinear bilateral control scheme.