Teleoperation Systems With Symmetric and Unsymmetric Time Varying Communication Delay

This paper addresses the stability and tracking control problem for passive and nonpassive input-based teleoperation systems under time varying telecommunication delays. The design comprises delayed position signals with the local velocity and known structure of the master and slave manipulator dynamics. Using Lyapunov-Krasovskii-like functional, we derive the stability condition for the closed-loop teleoperators under symmetrical and unsymmetrical time varying delays. These conditions ensure the control stability and tracking of the closed-loop teleoperation systems in the presence of passive and nonpassive input forces. Finally, various simulation results are presented to confirm the validity of the proposed designs for real-time teleoperation application.