Synchronization control of Bilateral Teleoperation systems by using wave variable method under varying time delay

Teleoperation is a human control system enabling humans to interact with the remote environment through a dual robot system which includes a master robot and a slave robot operating in two different places. Wave variables and scattering approaches were proposed in [1],[2] with constant time delay, [3],[4] with varying time delays. This paper develops them based on different wave variables and new passivity control to guarantee the stability of the whole system against varying time delays without assumption that absolute derivative of time delays is smaller than one. The validity of the control law is based on passivity theory. In addition, force controller design is considered for increasing transparency of system. The simulation results demonstrate the good performance of the proposed controller for position synchronization.