Control of Multilateral Teleoperation System Based on the Generalized Wave Variables

In this paper, a wave-variable-based control method is proposed for time delayed multilateral teleoperation systems. A generalized wave node that connects multiple wave transmission lines at one block is introduced. It can guarantee passivity against arbitrary number of master/slave arms and arbitrary amount of constant time delay. On the other hand, each terminal and a generalized wave node is connected by a generalized wave variable transmission line and the passive controller is also used. Experimental results show that the proposed control method is effective in position and force tracking.