A state predictor for bilateral teleoperation with communication time delay

In this paper, the new state predictors are proposed to improve the performance of the predictors in predictive controller for teleoperation with time delay. The proposed state predictors are designed based on solution trajectories of the dynamics. The prediction errors of the proposed predictors do not depend on past prediction errors. To achieve non-delayed synchronization, proposed predictors are incorporated to the predictive control structure. Using the Lyapunov stability method, the proposed control structure is shown to be stable even in the presence of time delay. Experimental results show the effectiveness of our proposed teleoperation.