Convergence Analysis of Teleoperation Systems With Unsymmetric Time-Varying Delays

This brief addresses the stability problem of a class of teleoperation systems. Compared with previous work, the communication delays are assumed to be both time varying and unsymmetric. We consider the usual case that the master and the slave manipulators are coupled using a proportional-derivative (PD) control strategy. By using a new Lyapunov-Krasovskii functional, we show that the master-slave teleoperation system is asymptotically stable under specific linear matrix inequality (LMI) conditions. With the given PD parameters, the values of allowable maximum time delays can be obtained. Finally, simulations are performed to show the effectiveness of the proposed method.