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Stabilization Of Teleoperated Systems With Stochastic Time Delays Using Time Domain Passivity Control

This work describes the application of time domain passivity control to the stabilization of a one-degree-of-freedom teleoperation system in the presence of stochastic time delays. A non-linear Kalman filter based predictor provides recursive estimates of remote energy which, in conjunction with the master-side energy of a network 2-port, give real-time estimates of net energy across the given port. These estimates are used to design time-varying stabilizing passivity controllers. Beta distributed time delays are predicted using one-step ahead 1st-order predictor