Optimal synchronization of teleoperation systems via cuckoo optimization algorithm

The main goal of controller design in bilateral teleoperation systems is to achieve stability and transparency in presence of different factors such as time delay in communication channel and modeling uncertainties. The contribution of this paper is designing an optimal controller for synchronization of bilateral teleoperation systems with the objectives of reducing the factors. This requires optimizing a set of parameters of the so-called synchronization control law. To this reason, a novel meta-heuristic algorithm namely cuckoo optimization (CO) algorithm was employed. Comparative simulations are performed to demonstrate the feasibility of the proposed control technique. The results indicate that CO is a powerful search and optimization technique that may yield better solutions to the problem in hand than those obtained using other algorithms including biogeography-based optimization, imperialist competitive and artificial bee colony.