This paper presents a robust design for the general bilateral teleoperation system with Markov jumping parameters. Although passivity-based approach and robust design-based approach can stabilize the bilateral teleoperation system, sufficient conditions are too conservative. In this paper, requirements for a general bilateral teleoperation system are given first. Next, time delays on the internet are modeled by a Markov process with nine states, three for the forward communication branch and three for the backward communication branch. Based on the requirements of the master and the slave controllers, the standard robust design are carried out. Then, with the model of internet time delays, the bilateral teleoperation system is reconstructed by a Markov jumping system. Based on the mode-dependent stability conditions for the stochastic time delay system, the closed-loop controller is designed to obtain the less conservative stable system and to therefore improve the performance of tracking and transparency. Simulation has been carried out and the results verify the feasibility and efficiency of the proposed approach.
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