Improving Tracking Performance of Passivity Based PID-Type Teleoperation Systems with Communication Delay

Abstract

The goal of this paper is to improve tracking performance of a bilateral teleoperation system with commu-nication time delay. The proposed method is a passivity-based PID-type controller. First, using feedback passivation control, the authors make the master and slave robots passive with respect to the new output including position and ve-locity signals. Secondly, the PI controller for the new output is designed. In the proposed method, position coordination is achieved even with the viscous friction error situation. The stability of the proposed PID teleoperation system and tracking performance are shown via passivity based stability analysis. Finally, several experimental results show the effectiveness of the proposed control methodology for teleoperation systems.