Control for Motion Synchronization of Bilateral Teleoperation Systems with Mode-dependent Time-varying Communication Delays

摘要

In this paper, motion synchronization control of bilateral tele-operation system is investigated. Compared with previous passivity framework, the communication delays are assumed to be stochastic time-varying. By feedback linearization, the nonlinear dynamics of the tele-operation system is transformed into two linear sub-systems: local master/slave position control and delayed motion synchronization. We propose new control strategies based on linear matrix inequalities (LMI) and Markov jump linear systems, which guarantees ultimate boundedness of the master/slave trajectories. By choosing Lyapunov Krasovskii functional, we show that the master-slave teleoperation system is asymptotically stable under specific LMI conditions. Finally, the simulations are performed to show the effectiveness of the proposed method.