Delayed feedback control in bilateral teleoperation


8th Biennial ASME Conference on Engineering Systems Design and Analysis, Turin, Italy, 4 - 07 July 2006, pp.307-311 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1115/esda2006-95440
  • City: Turin
  • Country: Italy
  • Page Numbers: pp.307-311
  • Eskisehir Osmangazi University Affiliated: No


Stabilization of time delay systems is currently a mainstream of research. In this paper, a delayed feedback controller is considered for internet-based teleoperation, where the master and the slave manipulators are bilaterally connected through a communication channel. A frequency based approach is employed for the stability analysis of teleoperation in spite of varying time delays. The derived approach is exact in telling weather the system is stable, whenever the system parameters including the delay are prescribed. The analysis formulates the stability intervals as delay varies. It is also shown how delayed negative feedback is able to stabilize oscillatory system dynamics. The results are illustrated with numerical examples.