Adaptive Control of Dual User Teleoperation with Time Delay and Dynamic Uncertainty

  This technical note aims at proposing an adaptive control scheme for dual-master trilateral teleoperation in the presence of communication delay and dynamic uncertainty in the parameters. The majority of existing control schemes for trilateral teleoperation systems have been developed for linear systems or nonlinear systems without dynamic uncertainty or time delay. However, in the practical teleoperation applications, the dynamics equations are nonlinear and contain uncertain parameters. In addition, the time delay in the communication channel mostly exists in the real applications and can affect the stability of closed loop system. As a result, an adaptive control methodology is proposed in this paper that to guarantee the stability and performance of the system despite nonlinearity, dynamic uncertainties and time delay. Simulation results are presented to show the effectiveness of the proposed adaptive controller methodology.