Stabilization of Asymmetric Bilateral Teleoperation Systems with Time-Varying Delays

Abstract

A novel control scheme for asymmetric bilateral teleoperation systems is developed based on linear models of the hardware, with two scenarios considered: i) only an upper bound on the time delay and ii) an upper and lower bounds on the time delay. Lyapunov based methods are used with linear matrix inequalities to prove that the system error is bounded between the manipulators. To ensure stability, a master side impedance matching controller is used. Simulations were conducted using the Matlab and Simulink platform to run the LMI code and simulate the system. Experiments were then conducted using actual hardware to verify the results, with deviations from imulation results. The variations were due to non-linearities in the hardware and model parameter approximation errors. Finally, suggestions for future work are made.