Need a good start into the topic of the control of bilateral teleoperation? Then check out this paper of Hokayem and Spong about the history of control schemes of bilateral teleoperation.
My controlling skills are mostly limited to select a PID and use some autotune function or Ziegler-Nicols-Rules for the parameters. I salute all the people, that have a deeper insight into all the other control stuff like model-based predictors, servor control, observers and all the other stuff there is.
Peter F. Hokayem, Mark W. Spong: Bilateral teleoperation: An historical survey. In: Automatica 42 (2006) 2035 – 2057, DOI: 10.1016/j.automatica.2006.06.027
gives a short historical insight into the different approaches of bilateral teleoperation control and is probably a good start for any further work in that field. Including topics like supervisory control, passivity and scattering approaches, and the handling of delays, the paper does not only summarize the basics of the methods, but also addresses stability and transparency issues. Furthermore, the state of the art in several application areas like telesurgery, the handling of hazardous materials and robots are summarized along with references to more specialized literature for the given field.
Although the paper is dated in 2006, the historical perspective gives an interesting insight into control issues. I’d be very interested to hear about similar, but more recent summaries of control approaches for haptic systems…