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Lyapunov stability analysis of a bilateral teleoperation system interacting with active environment

In this paper, the problem of a bilateral teleoperation system in contact with active environment is considered. The human operator is assumed to be nonpassive, and the network is subject to unsymmetrical constant time delay. Two new nonlinear terms are added to the common PD control strategy in order to deal with the active impedance appeared in the closed loop system. The master/slave robots are controlled by minimum data available from positions and velocity sensors, no force sensors are required, and interaction forces are not damped locally, all of which provide a low-cost and simple implementation. Moreover, stability and tracking performance of the position signals have been analyzed through a Lyapunov- Krasovskii functional. Finally, simulation results verifies the effectiveness of the proposed control algorithm.