New stability criteria for networked teleoperation system

The stability problem is studied for teleoperation systems over general communication networks. Compared with previous work, both quantization and time delay issues are considered. The controller used in this paper is in the form of proportional-derivative, and the output signals of master and slave systems are quantized before being transmitted. The stability criteria are presented to show that the controller can stabilize the master–slave system under quantization and variable time delay. Additionally, we propose a new quantized measurement, which can decrease the quantization error. Finally, simulations and detailed analysis are given to show the effectiveness of the main results.