Robust bilateral shared autonomous systems with constant input interaction force with time varying delay

In this paper, we introduce robust control algorithm for bilateral shared autonomous system with unsymmetrical time delay. The input combines robust and adaptive control term with the delayed position and local position-velocity signal of the master and slave manipulator. Lyapunov-Krasovskii function is used to establish delay dependant stability condition in the presence of constant input force and unsymmetrical delay. Unlike other control methods, the proposed design does not require a priori knowledge of the uncertainty associated with the unmodel dynamic and external disturbance. Finally, experimental results are given to illustrate the effectiveness of the proposed design for real-time applications.