Finite spectrum assignment controller for teleoperation systems with time delay

In this paper, two controllers are proposed for bilateral teleoperation systems with communication time delay. The first one guarantees the tracking of slave-master outputs, while the second one guarantees the transparency. Communication time delay appears in the control loop of the second controller, and finite spectrum assignment method is used to design this controller such that the resulting closed-loop system have a desirable finite spectrum. Numerical example shows that both tracking and transparency can be guaranteed using the proposed method.