Nonlinear adaptive control of teleoperation systems with large time delay

In this paper, an adaptive control scheme is developed for an n-DOF nonlinear time-variant teleoperation system with large time delays in the communication channels. To make the stability of the overall system be independent of the communication delay, two nonlinear adaptive motion/force controllers are bilaterally designed for both master and slave manipulators. A compliant force feedback loop is designed for the slave to improve motion/force tracking ability in the presence of large time delays. The method can be applied in unknown remote environment and does not require acceleration measurement Simulation results have confirmed the effectiveness of the proposed method