Bilateral Control of Teleoperation Systems With Time Delay

In this paper, we address the stability and tracking control problem of constant input-based bilateral teleoperation systems in the presence of time-varying delay. The teleoperation algorithm comprises delayed position and position-velocity signals with undelayed position and velocity signals of the master and slave manipulators. An adaptation law is employed locally to learn and compensate uncertain parameters associated with the gravity loading vector of the master and slave manipulators. Lyapunov-Krasovskii functions are employed to derive stability and tracking properties of the position, velocity, and synchronizing error of the master and slave manipulator. These properties are established in the presence of symmetrical and unsymmetrical time-varying delays under constant input interaction forces between human and master manipulator and between environment and slave manipulator. Finally, evaluation results are presented to illustrate the theoretical development of this paper.