Bilateral Control of Teleoperation Systems Through State Convergence

  • José M. Azorín
  • Rafael Aracil
  • Nicolás M. García
  • Carlos Pérez
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 31)


This chapter describes a new bilateral control method of teleoperation systems. This method is based on the state space formulation and it can be applied to any teleoperation system where the master and the slave would be represented by nth-order linear differential equations. The control system allows that the slave manipulator follows the master. The tracking is achieved by state convergence between the master and the slave. The method is able also to establish the desired dynamics of this convergence and the dynamics of the slave manipulator. Furthermore a simple design procedure is provided to obtain the control system gains. The advantage of this design procedure is that it is only necessary to solve a set of equations to calculate the control system gains. The control by state convergence can be also applied to teleoperation systems with communication time delay. In this case, the Taylor expansion is used to approximate the time delay. The state convergence allows that the slave manipulator follows the master in spite of the time delay in the communication channel. Experimental results with a teleoperation system of one DoF are presented to verify the control method.


Vary Time Delay State Convergence Design Equation State Space Formulation State Space Representation 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • José M. Azorín
    • 1
  • Rafael Aracil
    • 2
  • Nicolás M. García
    • 1
  • Carlos Pérez
    • 1
  1. 1.Departamento de Ingenieria de Sistemas IndustrialesUniversidad Miguel Hernández de ElcheElche (Alicante)Spain
  2. 2.Dtpo. Automática, Ingeniería Electrónica e Informática IndustrialUniversidad Politécnica de MadridMadridSpain

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