New stability and tracking criteria for a class of bilateral teleoperation systems ?
We propose delay dependent control strategy for a class of bilateral teleoperation system. New LyapunovKrasovskii function uses to show the convergence of the states of the systems. Stability condition develops in the presence of symmetrical and unsymmetrical delay. Convergence property derives under passive and constant input forces. Control design parameters can be calculated a priori.
teleoperation lyapunovkrasovskii functional impedance reflection time delay