Controller design for nonlinear bilateral teleoperation systems via total energy shaping

Abstract In this paper, Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) notion is utilized to design a novel controller for teleoperation systems with asymmetric variable time delay in the communication channel and passive/non-passive interaction forces. By shaping both of the kinetic and potential energies, the performance of position and force tracking is improved compared to conventional controllers. Using the Lyapunov–Krasovskii theorem, sufficient synthesis conditions are derived in terms of Linear Matrix Inequalities (LMIs) to ensure stable position and force tracking in the system. The dynamical models of actuators, i.e. Direct Current (DC) motors, are considered in the design of control law. Finally, comparative simulation results are presented to demonstrate the superiority of the proposed method contrasted to some recent rival methods in the literature. The real-world applicability of the proposed control strategy is verified by the laboratory experiments.

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