Robust Switching Control for Force-reflecting Telerobotic with Time-varying Communication Delays

The transparency problem of telerobotic system with time-varying delays is investigated in this paper. Based on a contact degree of freedom of the manipulator end-effector and Lyapunov function, a novel switching tracking control strategy is designed to guarantee the stability of the closed-loop system and the robustness of the tracking system. Simulation results demonstrate the effectiveness and feasibility of the proposed approach.