Control of Robotic Teleoperation System with Time Delay based on Force Estimation

For nonlinear teleoperation system with time delay, a control scheme based on force estimation is proposed. Since the force signals in teleoperation system are difficult to measure, a force estimation algorithm is designed to estimate the force signals. Using the estimated force signals and time delayed position error signals, two backstepping controllers are designed for teleoperation system. The performance of position tracking and force reflection of the system is analyzed, and the effectiveness of the proposed method is verified by simulations. The results show that the proposed control method can accurately estimate the force signals, and improve the performance of position tracking and force reflection while maintaining the stabilization of the robotic system.