Hybrid PD-Based Control Framework for Passive Bilateral Teleoperation over the Internet

Abstract

AbstractLet us consider the problem of bilateral teleoperation over the Internet. One of its aspects, which has not been much utilized so far, is its hybrid nature, that is, the (nonlinear) master and slave robots are continuous-time systems, while the Internet communication between them defines a discrete-time channel. Exploiting this hybrid nature and combining our prior results [Lee [2009], Huang and Lee [2010]], in this paper, we propose a novel hybrid proportional-derivative (PD) type passivity-enforcing bilateral teleoperation control framework over the Internet with such communication unreliability as varying-delay, packet-loss, data-duplication/swapping, etc. The closed-loop passivity of the teleoperator, position coordination and the force reflection between master and slave robots are mathematically proved.