Observer-Based Control of Bilateral Teleoperation with Time Delay

This paper is concerned with the stability analysis problem of a bilateral teleoperation system. An observer-based control scheme is proposed to deal with the communication delays, which are time varying and asymmetric. The proposed control method is applied to the situation that the velocities of the master and slave are not available. Two observers are designed to estimate the velocities of each robot. Some sufficient criteria are derived to ensure the considered system to be stable by using the Lyapunov functional method. The proposed criteria are given in terms of linear matrix inequalities (LMIs) which is easy to be checked. The effectiveness of the obtained results are illustrated by a numerical example.