Adaptive robust control of bilateral teleoperation systems for synchronization in time

A new control method for stability, synchronization and transparency of bilateral teleoperation systems is investigated in this paper. For the environmental force identification, the weighted least square method (WLS) is used on slave side and then the identification results are transmitted to the master side so as to simulate the environment of the slave system and build the target dynamic to achieve transparency. The states predictor on slave side is to predict the states of the master system and then the predicted results are regarded as the reference command for slave system, which leads to synchronization in time. Due to the great uncertainties, adaptive robust control (ARC) method is used for controllers design of the master and slave systems to guarantee stabilities of two teleoperators. At last, experiment results also show the good stability, synchronization and transparency of our control scheme.