In this paper, we investigate output feedback based control strategy for bilateral shared autonomous system with delay. The proposed design has two parts. In first part, we design state feedback based shared input interface provided that all the states are available for feedback. In second part, we replace the unknown velocity signals by using observer to develop output feedback based shared input under delay. The convergence condition with observer based output feedback design is shown by using the singularly perturbed method. The analysis shows that the performance achieved under state feedback can be recovered by using output feedback as the values of observer gains converge to zero. Finally, Experimental results are given to demonstrate the validity of the theoretical argument of the proposed design for real-time applications.

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Conference 55th IEEE Conference on Decision and Control, CDC 2016
Islam, S. (Shafiqul), & Liu, P. (2016). Output feedback impedance reflection based bilateral shared autonomous system without input force measurement. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 5105–5109). doi:10.1109/CDC.2016.7799049