Bilateral control with energy balance monitoring under time-varying communication delay

In previous work, we (1999) have proposed a control scheme based on wave variables. Unlike other methods, the proposed method could minimize the performance degradation due to the fluctuation of time delay. With this method however the system may potentially generate infinite energy in some special situations and the system stability could not be ensured rigorously. In this paper, we modify the method by introducing an energy input/output balance monitoring mechanism, which limits the energy that the system can generate. We conducted some simulation studies with a one DOF system. Simulation results show the validity of the proposed scheme.