Stabilization of teleoperated systems with stochastic time delays using time domain passivity control

This work describes the application of Time Domain Passivity Control to the stabilization of a one-degree-of-freedom teleoperation system in the presence of stochastic time delays. A non-finear Kalman filter based predictor provides recursive estimates of remote energy which, in conjunction with the master-side energy of a network 2-port, give real-time estimates of net energy across the given port. These estimates are used to design time-varying stabilizing passivity controllers. Beta distributed time delays are predicted using one-step ahead 1(st)-order predictor.