Abstract: A Lyapunov stable control scheme is designed and implemented for bilateral haptic teleoperation of a single-rod hydraulic actuator. The proposed controller is capable of reducing position errors at master and slave sides, ...

Abstract: In this paper, a control scheme is developed and evaluated for stable bilateral haptic teleoperation of a single-rod hydraulic actuator subjected to base disturbance. The proposed controller, based on Lyapunov stability ...