Adaptive control for bilateral teleoperation systems with time-varying delays

This paper presents a sliding-mode based controller for teleoperation systems with unknown uncertainties and time-varying delays. Adaptive laws are proposed to deal with the unknown but bounded uncertainties. Moreover, the allowable bound of delays can be obtained by solving a linear matrix inequality. By Lyapunov-Krasovskii functional analysis, the closed-loop stability is guaranteed. Both simulation and experimental results are provided for performance validations and comparisons. It is indicated that the proposed adaptive control scheme can provide better position tracking and force perception for master-slave teleoperation systems.