Teleoperation over internet communication networks under time varying delay

This paper considers trajectory tracking control problem for internet-based teleoperation system under time varying communication delay. The design comprises delayed position signals with the local velocity and nonlinear adaptive control signals. Adaptive terms are used to learn and compensate uncertain parameters for the gravity loading vector of the master-slave device. Lyapunov-Krasovskii-like functional is employed to establish the asymptotic tracking property of the coupled master-slave closed-loop teleoperator systems. The convergence analysis is given for both symmetric and asymmetric time varying communication networks delay between local-master and remote-slave haptic device. Finally, simulations and experimentations results are presented to demonstrate the validity of the proposed design.