Directed Force Feedback Control Design with Asymmetric and Time-Varying Delays

This chapter proposes a new control design method for nonlinear teleoperation systems with asymmetric and time-varying delays. Compared with previous P+d controller or the PD+d controller, delayed torque feedback information is applied to design the new control scheme, which renders the entire system stable with relatively good steady-state and transient-state performances. Proper Lyapunov Krasovskii functional are chosen to show the master-slave teleoperation system is stable under specific LMI conditions. Finally, simulation and experiments are both given to demonstrate the effectiveness of the designed control approach.