Teleoperation in the presence of varying time delays and sandwich linearity in actuators


In this paper, a novel control scheme is proposed to guarantee global asymptotic stability of bilateral teleoperation systems that are subjected to time-varying time delays in their communication channel and sandwich linearity in their actuators. This extends prior art concerning control of nonlinear bilateral teleoperation systems under time-varying time… (More)
DOI: 10.1016/j.automatica.2013.05.012


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