Predictive control approaches for bilateral teleoperation

Performance and stability are both affected due to time delay in bilateral teleoperation. Recent researches have reported the effectiveness of applying predictive control approaches to cope with the time delay effect which improve both stability and transparency. In this regard, this article aims to provide a systematic review of the predictive control approaches in bilateral teleoperation. The survey also tries to compare and assess the main features and properties of the predictive control schemes as much as possible. The survey elaborates initially the most common schemes and then qualitative and quantitative comparisons along with discussions are made with respect to stability, transparency, and robustness.