Bilateral time delay compensation in bilateral master slave teleoperation of differential mobile robots using IMC

This work presents design and implementation of an IMC (Internal Model Control) for bilateral teleoperation of differential mobile robots. Constant time delays are considered at the communication channel that yields bilateral teleoperation, in both forward and feedback channels. Time delay effects are compensated by using a Smith Predictor. Dynamic linearization of the differential mobile robots is considered, then the proposed IMC algorithm combined with Smith Predictor compensates degrading effects due to time delays. Experimental results show the performance and robustness of the proposed controller.