Stability Analysis of Time-Varying Delay Bilateral Teleoperation System with State Prediction

Aiming at the problem that the communication time-varying delay would destabilize teleoperation systems and worsen the tracking performance of robot-assisted surgery teleoperation, in this paper, a force and position predictive control method for state prediction is proposed. The Kalman filtering (KLF) algorithm is used to filter the position signal for compensating the time delay, a nonlinear Hunt-Crossley (HC) model would be used to generate a virtual environment of the remote robotic tool-soft tissue interaction at the master side, and the environment parameters would be identified by exponentially weighted recursive least squares (EWRLS) method. The system stability conditions are theoretically derived by Llewellyn's absolute stability criterion. The proposed control structure is a 4-CH architecture with state prediction, and the simulation results show the effectiveness of this predictive control method.