Loop Shaping for Transparency and Stability Robustness in Time-Delayed Bilateral Telemanipulation

Abstract

This paper presents a control methodology that provides transparency and stability robustness in bilateral telemanipulation systems that include a significant time delay in the communication channels. The method utilizes an adaptive Smith predictor to compensate for the time delay, and incorporates a previously published loop shaping approach to design a compensator for transparency and stability robustness of the loop. The method is experimentally demonstrated on a single degree-of-freedom telemanipulation system, and is shown to effectively provide stability and performance robustness.