演讲人简介：
   上海交通大学自动化系副教授，上海交通大学机械电子专业博士，IEEE高级会员，研究兴趣包括自主机器人、非线性控制、模式识别。

报告内容简介：
    Adaptive control is proposed for bilateral tele-operationsystem with time delay in communication channel, dynamic uncertainty and unknown externaldisturbance to achieving transparency and robust stability. Compared with previous passivity-based teleoperation framework, the communication delays are assumed to be time-varying. By partial feedback linearization using nominal dynamics,the nonlinear dynamics of the tele-operation system is transformed into two sub-systems: local master/slave position control and delayed motion synchronization.A new control strategy based on linear matrix inequal ities (LMI) and adaptive updating parameters is proposed. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis under specific LMI conditions. The proposed adaptive controls are robust against motion disturbances , parametric uncertainties and time-varying delay, which is validated by simulation studies.