Control of nonlinear bilateral teleoperation system using sum of squares analysis

In this paper a new method is proposed in order to guarantee stability and improved position tracking and force reflection for a nonlinear teleoperation system. This method is based on Lyapunov stability theorem and It is applied by algorithmically constructing appropriate Lyapunov-Krasovskii function via using the sum of squares programming. In current paper slave robot has interaction with nonlinear environment. The forward and backward network transmission time delays are symmetric and constant. Efficiency of the method is finally examined via simulation.