Research on stability of time-delayed force feedback teleoperation of robotic vehicle

Time delay causes the force feedback teleoperation instability, which is proved by the control theory. Although adding the certain damping into the systems is a popular method that can restrain instability at some degree, but how much damping and where should be added strongly depend on the configuration and other parameters of the system. In the paper, wave communication is introduced to make the teleoperation system have adaptive and robust stability character for arbitrary delay time. On the base of the method, an improved control strategy is proposed and it could get rid of the fluctuating of tracking signal. The simulation results indicate that the method and the improved configuration are available to motion and force track of teleoperation.