Adaptive Motion Synchronization of Bilateral Teleoperation Systems with Time-Varying Communication Delays

In this paper, motion synchronization control of bilateral tele-operation system is investigated. Compared with previous passivity framework, the communication delays are assumed to be time-varying. By feedback linearization, the nonlinear dynamics of the tele-operation system is transformed into two sub-systems: local master/slave position control and delayed motion synchronization. We propose new control strategies based on linear matrix inequalities (LMI) and adaptive parameters show that the master-slave tele-operation system is stable under specific LMI conditions. Finally, the simulations are performed to show the effectiveness of the proposed method.