Abstract
This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. First, an impedance control is designed for the master robot. Second, an adaptive inverse control is proposed for the slave robot. Finally, the slave side controller is modified such that the robust stability and performance are achieved. In addition, robust stability analysis has been performed and optimal behavior is ensured by using standard characteristic polynomials. It is shown that despite of presence of randomly-varying time delay, the proposed control algorithm compensates the position drifts efficiently. Demonstrable simulation studies confirm the effectiveness of the proposed control system and its advantages over the existing sliding mode control strategies.
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