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Among the still existing issues in bilateral teleoperation, there is the inability by force-feedback control schemes to guarantee delay-independent stability and achieve both position coordination and force reflection independently of the remote environmental dynamics. Particularly, most bilateral control frameworks fail to address position coordination when interacting with rigid environments. In...
In this brief, we propose a passivity-based framework for control of bilateral teleoperators under time-varying delays and data loss. The usual scattering formalism which guarantees passivity for any constant time delay is extended in several important ways to handle adverse network dynamics. Communication management modules (CMM) are proposed to reconstruct the scattering variables while guaranteeing...
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