Nonlinear Dynamics

, Volume 87, Issue 2, pp 1253–1270 | Cite as

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

  • Da Sun
  • Fazel Naghdy
  • Haiping Du
Original Paper


A novel approach applying the extended prescribed performance control (PPC) and the wave-based time domain passivity approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system’s passivity is guaranteed in the presence of arbitrary time delays. The system’s stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results show that the proposed control algorithm can robustly guarantee the master–slave system’s passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.


Bilateral teleoperation Prescribed performance control (PPC) time domain passivity approach (TDPA)  Wave variable Passivity Time-varying delay 


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Copyright information

© Springer Science+Business Media Dordrecht 2016

Authors and Affiliations

  1. 1.National University of SingaporeSingaporeSingapore
  2. 2.University of WollongongWollongongAustralia

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