Adaptive Task-Space Synchronization Control of Bilateral Teleoperation Systems With Uncertain Parameters and Communication Delays

This paper proposes a novel adaptive control framework for nonlinear teleoperation systems with dynamic and kinematic uncertainties and time-varying time delays. Master-slave synchronization in the task space is achieved. Compared with the previous work, the developed method can simultaneously handle the unknown kinematics/dynamics and the asymmetric varying time delays in a unified framework, and the inverses of the robots' Jacobians are not needed in the control design, and thus the master and slave robots can be redundant and the control law will be implemented more efficiently. Based on Lyapunov-Krasovskii methods, the stability criteria are established by linear matrix inequalities. It is shown by simulation studies that the developed control law can guarantee the task-space synchronization between the master and the slave.