Teleoperation over the Internet with Exponential Convergence

Abstract

This chapter addresses the controller design problem for teleoperation over networks such as the Internet with exponential convergence. The forward and backward network transmission time delays are also assumed to be asymmetric and time-varying, which is the case for computer network communications. A novel master-slave controller, which renders the entire system stable with relatively good steady-state and transient-state performances is proposed. The relations among the parameters of the controller and the allowable maximum time delays are built in the form of linear matrix inequality. The stability of the closed-loop system is proved, strictly. Both simulations and experiments are performed to verify the correctness and effectiveness of the proposed method.