Bilateral Teleoperation Over Networks Based on Stochastic Switching Approach

In this paper, new control strategies based on linear matrix inequalities and Markov jump linear systems are proposed for bilateral teleoperation systems over networks with random time delays and packet losses. The characteristics of the network are thoroughly incorporated in the design and two cases are considered: where both communication directions behave identically and where they are independent. In both cases, the tracking error is shown to be bounded by the rate of change of the external forces acting on the teleoperation system. The theoretical results are verified with simulation results using experimentally collected network data to show the performance of the proposed scheme as well as how to fine-tune the controller gain to balance the tradeoff between force and position fidelity. Experimental teleoperation results are then presented that show the practical performance of the proposed control scheme.