LQ control design of cooperative teleoperation systems

In this paper, two control architectures for cooperative teleoperation systems based on wave variables and optimal control are presented and discussed. The cooperative control schemes consider two pairs of wave based teleoperation systems collaborating to carry out operations in a shared remote environment. The information exchange occurs only between the corresponding pair, and the slave robots may physically interact between themselves either through a common tool or the manipulated object. Simulation results show the good performance of the proposed framework.