Bilateral synchronization control of networked teleoperation robot system

Bilateral synchronization control for Network Teleoperation Robot System (NTRS) in discrete domain is discussed in this paper, where time delay, data loss and disorder, and quantization error coexist. Firstly, it is assumed that time delay and data loss are asymmetric and randomly vary in the master–slave channel and slave–master channel according to different Markov jump change rules. By introducing the virtual variables, a clever normalization method is proposed for time delay or data loss. It not only uniforms time delay and data loss into a same framework, but also effectively handles the problem of data disorder. And then, a logarithmic quantizer is designed to dispose quantization error. Meanwhile, utilize the sector bound method to describe the quantization error and transform the quantization feedback control problem into a robust control problem, so the familiar robust control methods can be adopted to solve quantization problem. In addition, human and environmental forces are treated as external disturbances and processed using neural network techniques. Subsequently, stochastic stability and synchronization control property are guaranteed by the designed analogous PD controller that consists of proportion, derivative, and uncertainty estimation items. Finally, validity of the proposed method is certified by some simulation examples.