Bilateral Control of Nonlinear Teleoperation with Time Varrying Communication Delays

Abstract — This paper addresses the bilateral control of non-linear teleoperation with time varying communication delays. The proposed methods are two types of simple PD-type con-trollers which consists of D-controls depending on (the upper bound of) the rate of change of delay and P-controls depending on the upper bound of round-trip delay. Using Lyapunov-Krasovskii function, the delay-dependent stability of the origin is shown for the ranges of gains. Furthermore the proposed strategies also achieve master-slave position coordination and bilateral static force reflection. Several experimental results show the effectiveness of our proposed methods. I