A Novel Stabilization Scheme for Asymmetric Bilateral Teleoperation Systems with Time Varying Delays

This paper proposes a novel stabilization scheme to deal with time varying delays within a bilateral teleoperation system. The master and slave manipulators were modeled as linear single degree of freedom systems. The human user force was modeled based on the band limited availability of human motion, and the environmental force was modeled as a spring and damper combination based on the slave position. An impedance matching approach was applied to the master side dynamics, while a static error feedback gain was used to stabilize the slave side dynamics. A Lyapunov functional based on the error of the system is proposed with consideration for the maximum level of delay experienced within the system. From here, LMI approaches are used with Jensen's inequality to determine the static feedback control gain Kc. The cone complementarity algorithm is used to deal with non-linear terms within the LMI. Numerical simulations were conducted using Matlab and Simulink toolkits to demonstrate the stability and performance of the algorithms.

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