Internal model control for force-reflecting teleoperation systems with varying time-delay
变时延力反馈遥操作机器人系统的内模控制

Time-varying delays in force-reflecting teleoperation system communication channels always destroy the stability and transparency of the system. For these problems, internal model control structure is applied to the system, and controllers for both manipulators are designed. The bounds of the controllers' parameters which can guarantee the robust stability and satisfy the robust performance criterion under arbitrary bounded time delay are also given. The method ensures both the stability and good transparency of the system even under time-varying delay and has good adaptation to different delay conditions. There are few controller parameters to be specified, and they are hardly correlative with each other. When needed, they can be selected to achieve various performance specification flexibly.