Tracking improvement based on the proxy control scheme for bilateral teleoperation system under time-varying delays

This paper addresses the problem of the position/force tracking in teleoperation system and proposes a haptic proxy control scheme. Compared to previous works, communication delays are assumed to be both time-varying and asymmetric, and the response of the synchronization and the transparency are improved. The control design is performed using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) and H
_∞
control theory. With the designed controllers, the simulations of different working conditions, such as abrupt motion and wall contact, are performed and show the effectiveness of the proposed solution.