A Bilateral Control of Teleoperators Based on Time Delay Identification

In this paper, passivity and wave variables are first introduced, and then the reasons of communication time-varying delay are analyzed. For this time-varying delay a new-type time delay identification method based on the cross-correlation technology is proposed and this method can converge the time-varying delay parameter quickly. Finally this method is combined with wave integrals and a control scheme is proposed especially for time-varying delay. The effectiveness of the proposed method has been demonstrated through the simulation results.