Nonpassive teleoperation systems with time varying communication delay

We address the stability problem for a class of nonpassive teleoperators in the presence of the symmetrical and unsymmetrical time varying transmission delay. The design combines local velocity and nonlinear adaptive terms with the delayed position signals. Nonlinear adaptive terms for master and slave devices are used to cope with the unknown uncertainties that appeared into closed-loop systems. The LyapunovKrasovskii-like functionals are used to derive stability condition for the closed-loop systems under time varying communication delay. These condition allows the designer to estimate the control gains in order to achieve bounded position and velocity of the master and slave systems. Finally, simulation is conducted to demonstrate the validity of the proposed design for real-time teleoperation.