Delay-dependent stability analysis of teleoperation systems with unsymmetric time-varying delays

@article{Hua2009DelaydependentSA,
  title={Delay-dependent stability analysis of teleoperation systems with unsymmetric time-varying delays},
  author={Changchun Hua and Peter Xiaoping Liu},
  journal={2009 IEEE International Conference on Robotics and Automation},
  year={2009},
  pages={1146-1151}
}
This paper investigates the stability analysis problem of teleoperation system. Compared with previous work, the communication delays are assumed to be both time-varying and unsymmetric. The stability analysis is performed on two classes of controllers: delayed position error feedback and delayed force feedback. By choosing Lyapunov Krasovskii functional, we show that the master-slave teleoperation system is asymptotically stable under specific LMI conditions. With the given controller design… CONTINUE READING