Time Domain Passivity Control For Delayed Teleoperation With Parabolic Power Integration

Abstract— Time domain passivity control can be used to stabilize the time-delayed teleoperation by considering the communication channel as an active component and to design passivity controllers for it using recursive prediction of slave side energy. However the control actions by these passivity controllers result in large impulses thus degrading the performance of teleoperator. Energy derivatives are used to remove these effects which also forces the system to always dissipate energy and thus stop the occasional accumulation of a large amount of negative energy. To enhance the accuracy of energy estimation, Simpson’s rule based recursive parabolic integration of the power function is employed instead of simple rectangular summation. Simulation results proving the usefulness of the proposed approach are given.