PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

Emanuel Slawiñski*, Sebastián García, Lucio R. Salinas, Vicente Mut

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

14 Citations (Scopus)


This paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.

Original languageEnglish
Pages (from-to)2151-2161
Number of pages11
Issue number9
Publication statusPublished - 1 Sept 2016

Bibliographical note

Publisher Copyright:
© 2014 Cambridge University Press.


  • Bilateral teleoperation
  • Fictitious force
  • Force feedback
  • Mobile robot
  • PD-like controller
  • Time delay


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