On the closed-loop stability of a teleoperation control scheme subject to communication time-delays

This paper focuses on the closed-loop stability analysis of a teleoperation control scheme subject to delays in the communication channel. The stability conditions derived using a frequency-domain approach are analytical and easy to check. Delay-independent as well as various delay-intervals stability cases are treated. The novelty of the approach lies in its simplicity for characterizing the stability regions in terms of the systems´ parameters. Physical interpretations are included and several examples are also presented.