Adaptive Position and Force Tracking Control in Teleoperation System with Time-Varying Delays

In this work, a novel position and force tracking control scheme are proposed in teleoperation system under time-varying delay and uncertain dynamics. First, two new auxiliary variables are designed for the master controller and slave controller. Second, the adaptive control laws based on Radial Basis Function (RBF) neural network are proposed. Then, the Lyapunov theory is used to verify the stability of the closed-loop teleoperation system. The main contribution of this work is the position error, position error integral, and force error are introduced into the auxiliary variable for the controller design to obtain the better position and force tracking effect. Finally, the system with the proposed control method is simulated to show effectiveness.