Stabilization of bilaterally controlled teleoperators with communication delay: an ISS approach

A new approach to the stabilization of bilaterally controlled teleoperators in the presence of time delay in the communication channel is presented. A control scheme is proposed which makes the teleoperator system input-to-state stable regardless of the delay in the communication channel. It is shown that in the case of digital implementation of the control system, the input-to-state stability property is preserved in the ʹsemiglobalʹ sense. Simulation results are presented which confirm the stability properties of the proposed telerobotic scheme.