Robust control of teleoperation systems with time delay

In communication channels of a teleoperation system, there exist time delays, which reduce significant ability of the system. Moreover, the model of a teleoperation usually is uncertain. These problems conduce to instability and bad performance of the system. The model of the environment is usually unknown, it make the system more difficult to control. To overcome the troubles, memory local force feedback, position and velocity feedback approach is proposed based on robust control theory. Our method can make the system robust asymptotically stable and achieve excellent transparency. Analysis and simulation show that the method is effective.