Stochastic Switching Approach of Bilateral Teleoperation Systems: Part I - Theory

In this paper, new control strategies based on Linear Matrix Inequalities (LMIs) are proposed for bilateral teleoperation systems over networks with time delays and packet losses. The characteristics of the network are thoroughly incorporated in the design and are mainly discussed in two cases: random packet loss with constant time delays; and random packet loss with random time varying delays. Correspondingly, a stochastic switching control approach is designed for the system with random packet loss. The Markov Jump Linear Systems (MJLSs) framework is applied using time based controllers to guarantee Mean Exponential Stability. The tracking error is shown to be bounded by the rate of change of the external forces acting on the teleoperation system. Finally, simulation results with experimentally collected network data show the performance of the proposed scheme as well as how to fine tune the controller gain.