Experimental bilateral control by state convergence

This paper presents a discrete design and control method of teleoperation systems. The design method is based on the state space formulation and it allows to obtain the control gains for any teleoperation system where the master and the slave manipulators would be represented by nth-order discrete linear transfer functions. The control method allows that the slave follows the master through the state convergence between the master and the slave. The method is able also to establish the desire dynamics of this convergence and the dynamics of the slave manipulator. The advantage of this method is that it can be applied to control a teleoperation system where the master and the slave are modeled by transfer functions of different order. In order to validate the control method, simulation results are shown considering a teleoperation system where the master and the slave are modeled by discrete transfer functions of different order