Delay-Robust Transparent Bilateral Teleoperation Control Design

This paper proposes a novel framework for the analysis and design of linear teleoperation controllers that are robust to time-delay. The framework that is based upon the earlier work of the authors [1] employs scattering parameters and reflection coefficients to guarantee absolute stability of the system under any amount of delays. The proposed framework that incorporates both stability and performance considerations is utitized to design two new delay-robust bilateral controllers and the stability and performance of these controllers are rigorously evaluated.