Abstract
This chapter addresses the robust stability of some bilateral teleoperation control scheme subject to various constant and/or time-varying delays in the communication channel. The stability conditions arc derived using frequency-domain techniques. More specifically, in the case of constant delays, the stability regions of the systems’ parameters are completely characterized. Next, the analysis is extended to the case of time-varying unccnain delay, and we derive sufficient (closed-loop) stability conditions.
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Taoutaou, D., Niculescu, SI., Gu, K. (2004). Robust Stability of Teleoperation Schemes Subject to Constant and Time-Varying Communication Delays. In: Niculescu, SI., Gu, K. (eds) Advances in Time-Delay Systems. Lecture Notes in Computational Science and Engineering, vol 38. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18482-6_24
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DOI: https://doi.org/10.1007/978-3-642-18482-6_24
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