Discrete-time Linear Quadratic Gaussian Control for Teleoperation Under Communication Time Delay

Prior relevant research in bilateral teleoperation has mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability in the presence of communication latency. In contrast, in this paper we propose a multimodel predictive-type control approach based on the discrete-time linear quadratic Gaussian (LQG) control that delivers a stable transparent response in the presence of constant delay. Separate controllers …