关键词: 无源性, 波变量, 双边遥操作, 随机时延

Abstract:

The random time delay brings great challenges to the controller design for the Internet － based teleoperation system，the worst
case is that it can destabilize the Internet － based teleoperation system． First it gives a brief historical preview of bilateral passive control
theory and the wave variable control approach，and then a passive scattering transform method，extending the passive bilateral control
method to the Internet － based random time delay teleoperation system，is advanced to guarantee the teleoperation system’s stability
with any non － symmetric random network time delay． Finally，a virtual master － slave manipulator bilateral control scheme is designed
for mobile robot teleoperation based on the passive scattering transformation method，and simulations are carried out to verify the results
at the end of this paper．

Key words: passivity, wave variable, bilateral teleoperation, random delay