In this paper, the rotating flexible beam is taken as the research object, and the bilateral control problem for teleoperation systems is investigated via the multiobjective optimization method based on cell mapping. Firstly, the dynamic equation of the rotating flexible beam system in teleoperation system is established. Then, the master controller and slave controller are designed considering the time delays in network transmission and the tracking error signal between the master and slave, and use the Lyapunov stability theory to obtain the conditions of control gains that must be met to ensure the stability of the closedloop control system. Finally, the stability of the system does not mean a good control performance, the multiobjective optimization method based on cell mapping is used to optimize the control design, and the optimal solution set of the control gains satisfying multiple different goals at the same time is obtained. The simulation results show that the obtained control gains can realize the effective tracking between the master and slave beam in the teleoperation system effectively, and the operator can feel the change of the environment of slave system in time.