Bilateral teleoperation under time-varying communication delay

Several approaches based on wave variables have already been proposed for bilateral teleoperation control under time-varying delay. However, these approaches are too conservative for keeping the system passivity or for estimating the amount of virtually constant time delay. These conservative approaches result in too much degradation of maneuverability from the constant time delay situations. We propose a novel control scheme that is also based on wave variables, but minimizes the performance degradation due to the fluctuation of the communication time delay. The proposed method is simple and easy to implement. We conducted some simulation studies with a one DOF system. Simulation results show the validity of the proposed scheme.