Suboptimal master-slave teleoperation control with delays

This paper addresses the delay problem in bilateral teleoperation within a sampled-data context. The passivity constraints are imposed on the master and the slave side as well as the design specifications for a receding horizon-type optimal control design. This results in a quadratically constrained problem that is non-convex which is known to be difficult to solve. Thus, a dual formulation is proposed that provides a suboptimal control input vector that is shown to guarantee bounded trajectories