Control Through State Convergence of Teleoperation Systems with Varying Time Delay

Teleoperation systems that use Internet as communication channel must deal with varying time delays. In these situations, the system can become unstable due to the irregular variations of the time delay. In this paper, a control method of teleoperation systems that we presented considering constant time delays is applied to control a teleoperation system with varying time delays. The control gains obtained with a constant time delay can be used to control the teleoperation system with varying time delays because of the control method robustness. Experimental results are presented to illustrate the validity of the method.

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