Passivity-based control framework for task-space bilateral teleoperation with parametric uncertainty over unreliable networks

Bilateral teleoperation systems developed in joint-space or in task-space without taking into account parameter uncertainties and unreliable communication have limited practical applications. In order to ensure stability, improve tracking performance, and enhance applicability, a novel task-space control framework for bilateral teleoperation with kinematic/dynamic uncertainties and time delays/packet losses is studied. In this paper, we have demonstrated that with the proposed control algorithms, the teleoperation system is stable and position tracking is guaranteed when the system is subjected to parametric uncertainties and communication delays. With the transformation of scattering variables, a packet modulation, called Passivity-Based Packet Modulation (PBPM), is proposed to cope with data losses, incurred in transmission of data over unreliable network. Moreover, numerical simulations and experiments are also presented to validate the efficiency of the developed control framework for task-space bilateral teleoperation.