Robust bilateral generalized predictive control for teleoperation systems

This paper presents a Generalized Predictive Control (GPC) extension, called Bilateral GPC (BGPC), for teleoperation systems in the presence of both communication delays and slave force feedback. The originality of the proposed approach is to take into account the case where the reference trajectory is not a priori known. This difficulty is due to the bilateral problem where the force feedback alters the reference trajectory. Some robustness properties are examined in the frequency domain showing the influence of a new prefilter in the BGPC structure. The proposed BGPC ensures robust stability of the closed-loop teleoperation system in the presence of environment and transmission time-delayse uncertainties. Experimental results through a LAN (Local Area Network) are illustrated in this paper