A new approach to the stabilization of bilaterally controlled teleoperators in the presence of time delay in the communication channel is presented. A control scheme is proposed which makes the teleoperator system input-to-state stable regardless of the delay in the communication channel. It is shown that in the case of digital implementation of the control system, the input-to-state stability property is preserved in the 'semiglobal' sense. Simulation results are presented which confirm the stability properties of the proposed telerobotic scheme.
Stabilization of bilaterally controlled teleoperators with communication delay: An ISS approach
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