Summary
This chapter aims to take a first step towards the unification of the stability analysis for teleoperators with time-delay. It proposes a general Lyapunov-like function that, upon slight modification, generates different control schemes, ranging from constant to variable time delays, with or without the scattering transformation and with or without position tracking. It also presents examples of the design of the corresponding functional for some control schemes based on PD and on the scattering transformation for variable time-delays.
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Nuño, E., Basañez, L., Ortega, R. (2009). Control of Teleoperators with Time-Delay: A Lyapunov Approach. In: Loiseau, J.J., Michiels, W., Niculescu, SI., Sipahi, R. (eds) Topics in Time Delay Systems. Lecture Notes in Control and Information Sciences, vol 388. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02897-7_31
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DOI: https://doi.org/10.1007/978-3-642-02897-7_31
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