Adaptive Control of Bilateral Teleoperation with Unsymmetrical Time-varying Delays

In this paper, adaptive control is proposed for master-slave teleoperation systems with dynamical uncertainties and unsymmetric time-varying delays in communication channels. With the technique of force-motion transformation based on impedance model, we can convert the objective of force reflection into motion synchronization. Using partial feedback linearization, the whole teleoperation dynamics including both master and slave robots are transformed into two subsystems. Then, a novel adaptive control is proposed to deal with the unsymmetric time-varying delays and the dynamical uncertainties. The stability of two subsystems is proved with LMIs (linear matrix inequalities) based on Lyapunov stability synthesis. Extensive simulations and experiments are conducted to validate the effectiveness of the proposed control and illustrate the performance under this control law.