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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.
Date of Conference: 5-9 Sept. 2011