Time domain passivity control of teleoperation systems with random asymmetric time delays

In this paper, the power and energy behavior of bilateral communication with time delay is analyzed. Time delay may result in activeness and in turn generate energy. In a bilateral system, the energy generated by time delay communication can destabilize the whole system. Based on the power based time domain passivity control previously proposed by the authors, a time domain passivity control approach is derived for bilateral communication. After the compensation of time domain passivity control, the bilateral communication is kept passive at every time instant. Then the approach is applied to a bilateral teleoperation system with random asymmetric time delays. Simulation results verify the effectiveness of the approach.