The ISS small gain approach to stabilization of bilaterally controlled teleoperators with communication delay

The ISS small gain approach to the stabilization of bilaterally controlled teleoperators in the presence of time delay in the communication chanel is presented. A control scheme is proposed that makes the teleoperator system stable regardless of the delay in the communication channel. The central idea is to make both the master and the slave manipulators input-to-state stable with prescribed ISS gains, so that the stability of the overall system can be guaranteed by ISS small gain theorem.