Asymptotic stability for force reflecting teleoperators with time delay
International Journal of Robotics Research
Stability of Time-Delay Systems
Stability of Time-Delay Systems
Automatica (Journal of IFAC)
Position Tracking for Non-linear Teleoperators with Variable Time Delay
International Journal of Robotics Research
Passive-set-position-modulation framework for interactive robotic systems
IEEE Transactions on Robotics
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
A Globally Stable PD Controller for Bilateral Teleoperators
IEEE Transactions on Robotics
A control scheme for stable force-reflecting teleoperation over IP networks
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Stability and stabilization of a class of fuzzy time-delay descriptor systems
IEEE Transactions on Fuzzy Systems
New Delay-Dependent Stability Criteria for Neural Networks With Time-Varying Delay
IEEE Transactions on Neural Networks
New stability criteria for networked teleoperation system
Information Sciences: an International Journal
Control of semi-autonomous teleoperation system with time delays
Automatica (Journal of IFAC)
Teleoperation in the presence of varying time delays and sandwich linearity in actuators
Automatica (Journal of IFAC)
Cooperative tracking of multiple agents with uncertain nonlinear dynamics and fixed time delays
ISNN'13 Proceedings of the 10th international conference on Advances in Neural Networks - Volume Part II
Coordination control for bilateral teleoperation with kinematics and dynamics uncertainties
Robotics and Computer-Integrated Manufacturing
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This paper addresses the stability-analysis problem for teleoperation systems with time delays. Compared with previous work, communication delays are assumed to be both time-varying and asymmetric, which is the case for network-based teleoperation systems. The stability analysis is performed for two classes of controllers: delayed position-error feedback and delayed torque feedback. By choosing Lyapunov-Krasovskii functional, we show that the master-slave teleoperation system is stable under specific linear-matrix-inequality (LMI) conditions. With the given controller-design parameters, the proposed stability criteria can be used to compute the allowable maximal transmission delay. Finally, both simulations and experiments are performed to show the effectiveness of the proposed method.