Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System

In this paper, a new robust adaptive nonlinear teleoperation system using an improved extended active observer (IEAOB), Smith predictor (ASP) and sliding mode control is developed to address the time delay in communication channels robot model uncertainties. Firstly, ASP based on Padé approximation designed compensate for effect. Specifically, total network modelled by approximation, then deployed estimate delay. To ensure time-varying effect completely suppressed, algorithm further developed. Meanwhile, IEAOB utilized at both master slave sides deal with uncertainties, it can provide accurate inertial parameters friction estimation as well external force without structured presence of disturbances. Finally, stability theoretically studied effectiveness demonstrated applying pair Phantom Omni haptic devices connected via channel delays.