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ABSTRACT
This paper considers sampled-data control of bilateral teleoperation systems in the presence of time-varying delay. The assumptions on continuous-time position/force signal transmission are removed and the proposed control strategy is more realistic. By constructing a novel delay-dependent Lyapunov functional, the relationship is established among the control parameters, the delay bounds and the upper bounds of the sampling periods. The tracking performance can be achieved with the designed controller. Simulations and experiments are both provided to verify the effectiveness and benefits of the proposed approach.
Disclosure statement
No potential conflict of interest was reported by the authors.
Additional information
Funding
This work was partially supported by NSF of China [grant number 61503320], [grant number 61603328]; China Postdoctoral Science Foundation [grant number 2016M600195], [grant number 2017T100166]; Nature Science Foundation of Hebei Province [grant number F2017203159]; Open Project Programs of Key Laboratory of System Control and Information Processing Ministry of Education [grant number Scip201606].