Delay-independent robust stability analysis of teleoperation

This paper considers the robust stability of uncertain teleoperation systems. Sufficient stability conditions are derived in terms of LMI by representing the teleoperation scheme in retarded form of time-delay systems. By choosing Lyapunov-Krasovski functional, a delay-independent robust stability criterion is presented. We show that the teleoperation system is stable and has good performance under specific LMI condition. With the given controller parameters, stability of system is guaranteed in the presence of any value of delay and admissible uncertainty. To evaluate the theoretical analysis, Numerical simulations are performed.