The PID in the Control of Bilateral Teleoperation System with Time-Varying Delays: An Experimental Approach

Abstract

The control of bilateral teleoperation systems with time-varying delays is a challenging problem that is usually dealt with advanced control techniques. The well-known controllers, such as PD or PID, are scarcely employed and usually in conjunction with other approaches or at least with gravity compensation. In this contribution we intend to show, experimentally, that the standard PID controller exhibits good performance and robustness in position control for teleoperators with variable delays. The results obtained are compared with a well-known algorithm used for teleoperator control.